| 摘要 |
<p>This method is to reduce the positional errors by compensating for the delay in the rising torque of servo systems when the change in acceleration by an instruction is great. This control method comprises the steps of pre-smoothing (7) for each loop processing cycle of the position and speed; calculating the feed forward amount FFp on the basis of the pre-smoothed data SMD; and controlling the feed forward by adding the feed forward amount FFp to the speed instruction obtained by the positional loop. In the step of obtaining the feed forward amount FFp, the feed forward amount is calculated by advancing it temporally if the change in acceleration by the instruction is great, hence compensating for the delay in the rising torque.</p> |
