Servomotor control method and apparatus therefor

摘要

In servo-controlling a servomotor by a rotational velocity feedback loop and current feedback loop, a compensatory rotational velocity signal is produced to render the current feedback loop independent of the actual rotational velocity of the servomotor. To this end, the actual rotational velocity of the servomotor is amplified by a predetermined multiplication factor, and the resulting amplified signal is applied to a pulse width modulation signal obtained on the basis of a current difference between the actual current of the servomotor and a commanded current, which is based on a commanded velocity. The modulation signal resulting from the application of the amplified signal is applied to a current drive circuit of the servomotor.