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:
Mar. 20, 2001
Filed:
Sep. 13, 1999
Kazuhiro Tsuruta, Kitakyushu, JP;
Kabushiki Kaisha Yaskawa Denki, Kitakyushu, JP;
Abstract
A position controller has a command generator for generating position instructions, a position control unit for controlling a position by inputting a position instruction and the position of a motor being an object to be controlled, and outputting a speed instruction so that they become coincident with each other, a speed control unit for controlling a speed by inputting a speed instruction and a speed of the motor and outputting a torque instruction so that the speed instruction and speed become coincident with each other. A current control unit is provided for controlling a current on the basis of the torque instruction, wherein the speed control unit is provided with a speed feedback filter which obtains a new speed of a motor by filtering the speed through a low-pass filter, a subtracter which obtains a speed deviation by subtracting the new speed from the speed instruction, an integrator which obtains an integral figure of the speed deviation by time-integrating the speed deviation by a time constant Ti, and a multiplier which multiplies the speed instruction by &agr;(0.0≦&agr;≦1.0). An adder and subtracter adds a signal of the multiplier to the integrated figure of the speed deviation and subtracts the speed therefrom, a multiplier calculates a torque instruction by multiplying the output of the adder and subtracter by a speed loop gain kv, and a torque filter makes a torque instruction into a new torque instruction by filtering it through a low-pass filter.