POSITIONING CONTROL METHOD AND DEVICE BY MOTOR

摘要

PROBLEM TO BE SOLVED: To improve the stability of a positioning control system by eliminating the cause of a phase delay occurring in the positioning control system for preventing the phase delay and instability of the control system with increasing of the response of the positioning control system when the stiffness of a drive shaft 3 connecting a motor 1 and a load 4 is insufficient.

SOLUTION: A high frequency region signal is obtained by passing a shaft position detection value θMof the motor 1 through a low-pass filter 15, and a low frequency region signal is obtained by passing a position detection value θLof the load 4 through a high-pass filter 16. A synthesized signal formed by adding up these signals is used as a feedback signal θL_fbof the positioning controller 6. A position command value θL**and the position detection value θLof the load are compared by a subtracter 24 to find out an axial torsion equivalent value, and by subtracting it from the position command value θL**, a corrected position command value θL*is obtained. The stability in the high frequency region of the positioning control system is improved, and an overshoot and the following axial vibration at the time of position are reduced.

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