| 摘要 |
A servomotor control system includes a sensor for sensing the velocity of a servomotor (101), a sensor for sensing an actual current flowing into the servomotor (101), a power drive circuit for driving the servomotor (101), and control units (MP1, MP2). The control unit MP1 performs a velocity loop computation to derive a current command for the servomotor based on an offset velocity between a velocity command for the servomotor and the sensed actual velocity. The control unit MP2 performs a current loop computation to obtain a command for the power drive circuit. In the current loop computation of the control unit MP2 a velocity compensation signal is obtained by amplifying the sensed actual velocity by a predetermined magnification, so that the command for the power drive circuit is compensated by the velocity compensation signal. The velocity loop computation is executed at a period longer than that at which the current loop computation is executed. |
