SERVO CONTROL METHOD

摘要

Flexible structures with two ore more inertia systems connected through spring elements have heretofore presented problems that instructions and loads do not in perfect accord and that complicated calculations required involve an enormous amount of calculation. A servo control method using feedforward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque instruction from the determined functions capable of higher order differentiation, and using the calculated motor position, speed and torque instruction as feedforward instructions or of calculating a motor torque instruction from the determined function capable of higher order differentiation, inputting the calculated torque instruction into a mechanical model, and using the obtained motor position, speed and torque instruction as feedforward instructions.