| 摘要 |
PURPOSE:To improve the response delay to a position command at the time of quadrature inversion by using a torque command corresponding to the frictional torque of a machine as offset data for the control of quadrature inversion in an NC device. CONSTITUTION:A position command MC(i) and a backlash correction command BLF(i) are outputted from the NC device to a servo control system. The position command MC is compared with a position signal POS(i) by a comparator B to generate a deviation signal E1, and this signal is multiplied by a position gain K to generate a speed signal E2, and this signal is compared with a speed signal VEL(i) of a servo motor to generate a deviation signal E3. The deviation signal E3 is outputted to a comparator B3 through a comparator B4, an integral term Z<-1>, and a gain K1 and is operated with the speed signal VEL(i) fed back through a gain K2 to output the torque command. Meanwhile, the backlash correction command BLF(i) passes a correcting circuit A to output the command corresponding to the frictional torque in accordance with data of the operation area at the time of quadrature inversion. |
