| 摘要 |
PURPOSE:To provide the control system for servo motor with which the vibration of a controlled system can be suppressed and input follow-up ability can be improved by extending the band of a speed loop. CONSTITUTION:Concerning the control of the controlled system due to a servo motor, an acceleration loop is formed by feeding the acceleration of the controlled system back to the torque command of the servo motor. Concerning that acceleration loop, a control term H(s) is contained serially with a term G(s) of the controlled system at a gap from the torque command of the servo motor to the output of the acceleration loop, and this control term is defined as a function for the term of the controlled system and the desired characteristic of the acceleration loop. Further, that desired output characteristic is decided so as not to generate any vibration. Thus, the vibration of the controlled system is suppressed by preventing the output of the acceleration loop from being vibrated. |
