| 摘要 |
A method of controlling a servomotor by controlling the speed and current of the servomotor in a digital manner. Correction values (23, 27) are so applied that the integration gain (22) and the loop proportional gain (26) of the current control loop will increase depending upon the speed of the servomotor. Since the current loop gain increases depending upon the speed of the servomotor, no oscillation takes place in the current loop when the servomotor runs at low speeds or is at halt. Furthermore, a decrease in the torque caused by the lowered current loop gain during the high-speed operation can be prevented. <H0> ABSTRACT </H0> A servo motor controlling method for controlling both a speed and a current of a servo motor under a digital control. An integration gain (22) and a loop proportional gain (26) of the current controlling loop are subjected to correction (23, 27) so as to be increased depending upon the rotational speed of the servo motor. Since a current loop gain is increased depending upon the rotational speed of the servo motor, the oscillation of the current loop does not occur at the time of low speed drive and stop, and the shortage of torque due to the lowering of the current loop gain at the time of high speed drive can be prevented. |
