| 摘要 |
PURPOSE:To improve the high speed positioning and accuracy by using a signal amplifying a deviation between a position command obtained via a closed loop speed control system and an actual position and a signal added with a speed command so as to use them as operation inputs. CONSTITUTION:A position controller 10d inputs a speed command outputted from a speed pattern generator 11 to a model 16 of a closed loop speed control system 40. An output of the model 16 is inputted to an integration device 12 and a position command thetar is obtained. A position deviation Ed between the command thetar and an actual position theta of a controller system 30 is obtained by a subtractor 13 and the deviations Ed is amplified by an amplifier 14. A signal adding an output of the amplifier 14 and the speed command becomes an operation input Ud of a driver 20. In constituting the position control system, a position displacement such as feeding amount and rotary angle is improved for the response, the vibration is suppressed and the stop position accuracy is improved. That is, high speed positioning and accuracy are improved. |
