| 摘要 |
PURPOSE:To suppress the vibration of the system and improve response by superposing the position command corrected of a position deviation in accordance with the magnitude of a speed command value on an acceleration command and a speed command integrating this in positioning of a machine tool using hydraulic and electric servo. CONSTITUTION:The acceleration alpha set necessary for moving a controlled system to a prescribed position is set by an acceleration command generator 21, from which the required accleration is outputted momentarily. The output of the generator 21 is integrated 22 to obtain a speed command vset, which is further integrated 23 to provide a position command xset. The deviation DELTAx between this output xset and the output (x) of a position detector 6 is inputted to a coefft. multiplier 24, where it is multiplied by a coefft. (a). This coefft. (a) is selected large when vset is small and small when vset is large. These outputs are added 26, and the position of the controlled system 5 is determined by a servo amplifier 4. With such constitution, the command values are connected in accordance with the magnitude of the speed command, and the vibration of the system is suppressed; at the same time, the response is improved. |
