Method of position control by dc servomotor

Details Method of position control by dc servomotor Method of position control by dc servomotor

G - Physics

05

D

318/25

G05D 3/12 (2006.01) G05D 3/14 (2006.01)

Patent

CA 1209198

ABSTRACT OF THE DISCLOSURE A method of position control by DC servomotor with improved stiffness is disclosed. In the present invention, electric current (iR) of the servomotor is interpreted anew and given as follows: Image where .theta. is an observed rotation angle of the load (L), .theta.c is a precommanded value, KF is a feedback coeffi- cient, and KV is a velocity coefficient. After normalizing the above equation, it was discovered that stiffness (S) can be increased by incorporating a limiter into the control system, thus providing prompt response and smooth convergence of .theta. to .theta.c with a high degree of stiffness maintained at the precom- manded angle (.theta.c).

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