| 摘要 |
PROBLEM TO BE SOLVED: To synchronize two axes through synchronization control whereby synchronization errors of position and speed between the two axes are minimized, even if disturbance is applied to either the first or second axis or if the amount of friction differs greatly between the two axes; and to achieve synchronization of not only speed feedback but also position feedback, whether in a steady state or in a transient state. SOLUTION: This synchronization control apparatus having a position control means using the position feedback of each axis includes a feed forward control part that creates a feed forward signal of each axis based upon position commands; a synchronization error computing part for computing a synchronization error based upon the difference in position feedback between the two axes; a position correction signal computing part for computing a position correction signal based upon the synchronization error computed; a feed forward correction signal computing part for computing a feed forward correction signal of each axis based upon the feed forward signal and the position correction signal of each axis; and an adding part for adding the feed forward correction signal to a speed command. COPYRIGHT: (C)2006,JPO&NCIPI
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