Servo motor controlling method
US7659682B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 23, 2007 |
| Grant date | Feb 9, 2010 |
| Priority date | — |
| Expiry date | Sep 17, 2027 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02P23/06
- WIPO fieldElectrical machinery, apparatus, energy
- WIPO sectorElectrical engineering
Abstract
A servo motor controlling method includes: directly or indirectly detecting a position of a moving body which performs a circular-arc interpolation feeding motion by a servo motor; performing a feedback control for enabling the position of the moving body to comply with a position command; and at a quadrant changing time when a moving direction of the moving body is changed, performing torque correction on a torque command value according to a distance from a position where the moving direction is changed. By this method, a quadrant protrusion and a torque change with respect to a friction caused from a free zone at a time of reversion of a ball screw can be appropriately corrected. Especially, by performing a first torque correction for a static friction at the position where the moving direction is changed, and by performing a second torque correction for a moving friction after movement by the distance corresponding to the free zone, more appropriate correction can be obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.