| 摘要 |
PURPOSE:To limit the maximum speed of a servo motor of low torque and high speed and to execute stable position control by saturating deviation caused by position feedback by a limiter first and starting a speed control mode when the position deviation is large. CONSTITUTION:A first deviation calculation part 7 calculates the deviation of an output signal theta, which is impressed through a buffer amplifier 3, from a position sensor 2 from a target position R. A limiter 8 limits the amplitude of an output signal from the first deviation calculation part 7. A second deviation calculation part 9 calculates the deviation between the output signal of the limiter 8 and a speed signal Komega.omega outputted by a speed calculation part 4. When the output signal of the deviation calculation part 9 is impressed, a driving amplifier 6 amplifies this signal and drives a servo motor 1. Namely, the factor of saturation caused by the limiter 8 is added to the output of the position deviation. Thus, a speed omega of the servo motor 1 having low torque and high-speed rotation, namely, having the large position deviation is controlled at fixed maximum speed, and the maximum torque can be stably held. |
