| 摘要 |
An ideal position is calculated based on an ideal servo system model, the difference between the calculated ideal position and the actual position feedback is multiplied by a predetermined gain only for a predetermined time from the direction reversing time of the ideal position, and the result is added to the speed command as the correction amount, so that variations in the correction effect, caused by the effect of a secular variation of the friction amount and the work condition difference is suppressed and even in a machine system with large elastic change in torsion of a ball screw, a seal material, etc., undercut caused by torsion restoration after the correction, etc., is suppressed and a servo system is prevented from becoming unstable. |
