发明名称 |
Servo control apparatus that performs dual-position feedback control |
摘要 |
A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining. The servo control apparatus includes: a first position detector for detecting the position of a motor; a second position detector for detecting the position of a driven load; a first position error calculator for calculating a first position error based on a position command and motor position feedback; a second position error calculator for calculating a second position error based on the position command and driven load position feedback; a third position error calculator for calculating a third position error to be used for position control, by adding to the first position error a difference taken between the first position error and the second position error and passed through a time constant circuit; a selector for selecting either the second position error or the third position error for output; and a learning controller for learning an output of the selector, and for outputting an amount of compensation to be applied to the third position error.
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申请公布号 |
US7915848(B2) |
申请公布日期 |
2011.03.29 |
申请号 |
US20100716764 |
申请日期 |
2010.03.03 |
申请人 |
FANUC LTD |
发明人 |
IWASHITA YASUSUKE;OKITA TADASHI;TOYOZAWA YUKIO;MAEDA KAZUOMI |
分类号 |
G05B19/19;G05B19/404;G05D3/12 |
主分类号 |
G05B19/19 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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