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:
Jan. 10, 2017
Filed:
Apr. 22, 2014
Seoul National University R&db Foundation, Seoul, KR;
RS Automation Co., Ltd., Pyeongtaek-si, Gyeonggi-do, KR;
SEOUL NATIONAL UNIVERSITY R&DB FOUNDATION, Seoul, KR;
RS AUTOMATION CO., LTD., Gyeonggi-do, KR;
Abstract
The present invention relates to a servo motor controller for controlling a servo motor having a current limiting unit, and a tuningless nonlinear control method thereof. According to the present invention, the servo motor controller control method for controlling a servo motor including a current limiting unit comprises the steps of: detecting that the limited current is output according to a current command of the current limiting unit; adjusting a disturbance estimation gain of the servo motor controller in response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit on the basis of the adjusted disturbance estimation gain.