| 摘要 |
<p>A servomotor control method capable of preventing an overshoot in positioning a movable part of a machine in the case where the position of the movable part is controlled in a full-closed loop. When an output P1 of a first acceleration/deceleration processing section of a bell-type acceleration/deceleration process becomes "0", a coefficient k3 of incomplete integration is set to a relatively small value alpha , and a torque limit value TL is set to a relatively small value TLL. The incomplete integration is performed with the coefficient k3 set to the small value, and a torque command TC is limited to the small value, so that an output of the servomotor is reduced and torsion of a mechanical system between the servomotor and the mechanical movable part is canceled. When both the outputs P1 and P2 of the acceleration/deceleration processing sections become "0", the coefficient k3 is set to a relatively large value beta , and a torque limit value is made larger, to perform the incomplete integration. Then, the output torque of the servomotor is increased gradually to position the movable part at the designated position. <IMAGE></p> |
