| 摘要 |
<p>PURPOSE:To improve the safety of a robot, etc., by detecting the runaway after estimating the present motor position together with a time lag through simulation of the transmission function of a control system. CONSTITUTION:A motor controller for a robot, etc., consists of a speed detector 2 for a motor 1 to be controlled, a position detector 3, a differentiation element 4, a speed command pattern production circuit 5, an adder 6, an integration element 7, a position amplifier 8, an adder 9, and a speed amplifier 10. Furthermore, an absolute value production circuit 11 and a comparator 12 are added so that an abnormality signal is produced when the absolute position deviation exceeds the reference value A. In this case, a control system model 13 is added to the preceding stage of the circuit 11 to simulate the transmission function (from adder 6 through detector 3) together with an adder 14. In such a constitution, the present motor position is estimated together with a time lag and it is possible to decide the presence or absence of the runaway based on a fact whether the deviation between said estimated motor position and an actual position signal exceeds a reference level or not.</p> |
