| 摘要 |
PURPOSE:To obtain a servo system without generating overshoot and delay by stably converging the servo system even when a parameter for inertia, etc., fluctuates by performing feedforward control by applying a sliding mode. CONSTITUTION:A digital servo circuit 3 consisting of a digital signal processor, etc., performs the feedback control of the position, the speed, and the current of a servo motor at every axis of a robot 5. Also, a feedback signal register 4 on which the feedback value of the driving current and feedback pulse as the amount of travel theta of each servo motor in the robot 5 are written is provided. In the control of the servo motor, a system is adapted to the fluctuation of inertia by varying a torque command value corresponding to that of all the inertia applied on the servo motor by performing sliding mode control. Thereby, it is possible to perform the feedforward control for speed and acceleration in the control of the servo motor where inertia remarkably fluctuates. |
