Kabushiki Kaisha Yaskawa Denki

Koji Tomita

Wennong Zhang

Tatsumi Nakazato

Shoji Takamatsu

A position controller includes a position control part that calculates a speed command on the basis of a difference between a position command and a rotation position of a motor, a PI control part that calculates a torque command on the basis of a speed difference between the speed command and a feedback speed, an observer that generates the feedback speed on the basis of the torque command and a rotation speed of the motor, a phase lead compensator that generates a phase lead compensation signal of the torque command on the basis of the speed command, and an adder that generates a new torque command by adding the phase lead compensation signal of the torque command to the torque command.

Position controller

An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a control device therefor. The method comprises the steps of inputting respective shaft operation instruction values (&ohgr;j) based on an actual operation speed to a mechanical simulator-carrying low-speed instruction converter ( ), and instructing to a servo controller unit ( ) a quantity (&ohgr;ij) (&equals;&ohgr;sj/P), obtained by dividing an output (&ohgr;sj) from the mechanical simulator by a specified positive real number P at the low-speed instruction converter, as respective shaft operation values N times (N; maximum natural number not exceeding the real number P).

Operation confirming method and device for industrial machinery

A positioning servo controller is provided in which optimization of the positioning state can be conducted simply by adjusting an adjustment gain. In a positioning servo controller with: a speed feedforward controlling section ( ) which sets a value that is obtained by adding a first feedforward compensation amount to a position deviation, as a speed command; an acceleration feedforward section ( ) which sets a value that is obtained by adding a second feedforward compensation amount to a speed deviation, as an acceleration command, the second feedforward compensation amount being obtained by amplifying a differential value of the first feedforward compensation amount; and a torque amplifier ( ) in which an acceleration deviation is used as a torque command, and which drives a controlled object on the basis of the torque command, the values of the first feedforward gain and the second feedforward gain are values of functions in which the value of the adjustment gain is used as an argument.

Positioning servo controller

Control parameters are regulated without oscillating a servo control system. Respective control parameters P&lsqb;p&rsqb; (p&equals;0, 1 - - - ), arranged in the order of gradually increasing a chance of oscillating the servo control system, are set sequentially starting with P&lsqb; &rsqb;, a torque command Tr or a fluctuation amount &sgr;, showing a variation in frequency component of vibration of a speed feedback amount &ohgr;, is determined for each of control parameters, and the servo control system is assumed to have reached an oscillation criticality when a fluctuation amount exceeds a specified value to thereby reset a control parameter set at that time to P&lsqb;p&minus;q&rsqb; (q; natural number) or to P&lsqb; &rsqb;.

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Fukuoka, Japan

Koji Tomita