| 摘要 |
PURPOSE:To prevent overshoot in the mechanical system by controlling an incomplete integral term included in an integration gain of a speed feedback loop when a deviation between the position signal from the mechanical system and the moving command exceeds a prescribed value. CONSTITUTION:The moving command is inputted to an adder circuit 2 and a deviation Ep with a position signal fed back from the pulse coder is operated. An arithmetic block 3 operates the speed command from the deviation Ep and an adder circuit 4 operation the deviation Ev with the speed signal fed back from a pulse coder. An output of a speed control block 5 comprising a transfer function whose incomplete integral term is varied depending whether the deviation Ep is zero or not decides a command current to a servo motor driving the mechanical system 1 via a current gain of the speed feedback loop is controlled in this way, the overshoot in them mechanical system due to stick or slip is prevented.
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