CURRENT CONTROL METHOD OF SERVOMOTOR

摘要

An electric current control method for a servomotor using DQ conversion capable of increasing an acceleration torque and stabilizing a current control for deceleration when a voltage command is saturated. It is discriminated whether or not the voltage command is saturated over a maximum voltage which a power amplifier is able to output (Step T1). When the voltage command is saturated, a saturation process is performed for rewriting an integrator of a Q-phase current control loop (Step T2), it is further discriminated whether the servomotor is in acceleration or deceleration (Step T3) and a further saturation process is performed for rewriting an integrator of a D-phase current control loop (Step T4) only when it is discriminated that the servomotor is in deceleration.