| 摘要 |
<p>In machining by a machine using a servo motor control device which has a position feedback loop, a speed feedback loop, and a current feedback loop, it is an accepted practice to preset a current instruction value to a voltage that corresponds to a friction torque at the time of starting the motor and/or inverting the rotational direction of the motor, in order to compensate the delay in the response of the motor caused by the friction torque. This invention is to improve this technique. At a moment when the instruction for starting the motor or the instruction for inverting the direction has changed from zero to a positive value or a negative value, the value of integrating element in the controller that contains integrating element in the controller that contains integrating element is made zero, or its sign is inverted, in order to improve delay in the response and to decrease errors in the machining.</p> |
