| 摘要 |
<p>The instruction follow-up ability of a servo system is improved. The mean value of move instructions in each of position/speed loop processing cycles is determined, the number of the move instructions being equal to the quotient N of the division of a distribution cycle by the position/speed loop processing cycle with the cycle of a position/speed loop processing as the center. A feed-forward quantity FFp of a position is determined by multiplying this mean value by a position feed-forward coefficient (S13), and this feed-forward quantity FFp is added to a speed instruction obtained by a normal position loop processing to obtain a corrected speed instruction Vc(j) (S14). Furthermore, speed feed-forward processing, too, is carried out (S16) to obtain a torque instruction Tc(j) for driving a motor (S17). Even when feed-forward control is effected, undulation does not exist in position error, and no shock occurs in a machine.</p> |
