The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 21, 1993
Filed:
Jan. 24, 1992
Dong-Il Kim, Seoul, KR;
Samsung Electronics Co., Ltd., Suwon City, KR;
Abstract
The present invention relates to a velocity control method for a synchronous ac servo motor, more particularly, to a velocity control method for an ac servo motor, in which the motor is controlled by an acceleration ,control mode and a feedforward control mode in systems having severe external load torque and inertia, such as robots, computer numerical control machine tools and the like, to thereby attain a rapid response characteristic and a powerful property endurable to the variation of the load torque and inertia. The method comprises the steps of calculating acceleration from a sensor attached to the synchronous ac servo motor and feeding back the calculated acceleration to an output of a PI controller, and multiplying velocity command data input value by an optimum gain value and feeding forward the multiplied result to the output of the PI controller, thereby minimizing an effect due to the variation of load torque and inertia according to a position and a moving speed of a robot arm and the weight of objects grasped by the robot.