| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the problem, wherein a conventional belt-driven servo device produces drive force ripples with a frequency proportional to motor force transfer speed due to engagement between a pulley and belt, and vibrations of movable portions are generated. <P>SOLUTION: In a position control method for a belt-driven servo device having a motor 6, the pulley combined with a shaft of the motor, the belt driven by the pulley, and the movable portion combined with the belt, the position control method estimates the disturbance force with a disturbance estimation observer 9, on the basis of the speed of the motor 6, and compensates for the disturbance force, by subtracting (5) the value of the disturbance force estimated from a motor torque command. Furthermore, the position control method measures the acceleration of the movable portion with an acceleration sensor 10 so as to damp the vibration of the movable portion by constituting a proportional acceleration control loop through a filter 11. <P>COPYRIGHT: (C)2007,JPO&INPIT |
