Servomotor control device with counterforce command calculation
US11256226B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 10, 2020 |
| Grant date | Feb 22, 2022 |
| Priority date | — |
| Expiry date | May 2, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42092
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce command. calculation unit which calculates a counterforce command specifying a target, counterforce which should be received by the driven body; a position acquisition unit which acquires an actual position of the driven body; a position reference drive control unit which generates a position reference drive signal so as to bring the position nearer the target position; a counterforce acquisition unit which acquires a counterforce being received by the driven body; a counterforce reference drive control unit which generates a counterforce reference drive signal so as to bring the counterforce nearer the target counterforce; and a drive signal selection unit which selects either one of the position reference drive signal and the counterforce reference drive signal; in which the position command calculation unit calculates the position command so that the target position becomes a second order or higher relationship relative to time, and the counterforce command calculation unit calculates the counterforce command s…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.