Servo control method using a disturbance estimation observer

Details Servo control method using a disturbance estimation observer Servo control method using a disturbance estimation observer

G - Physics

05

B

341/113

G05B 13/02 (2006.01) B25J 9/16 (2006.01) G05B 13/04 (2006.01) G05B 19/19 (2006.01)

Patent

CA 2026578

A B S T R A C T A servo control method capable of properly effecting disturbance estimation and removal by a disturbance estimation observer even in machines subject to substantial fluctuations in inertia, and improving the disturbance resistance of the machines. An estimated disturbance (x) is obtained in accordance with an actual current command (I - y') and an actual motor speed (v) by a disturbance estimation observer (5), which includes four transmission elements (51 to 54) having transfer functions (Kt/Jm, K1, K2/S, 1/S) each depending on the torque constant (Kt), inertia (Jm), or parameters (K1, K2) corresponding thereto. Gain adjustment and high-frequency component removal therefor are effected by a transmission element (3) and a filter (4), to determine a corrected estimated disturbance (y'). A servomotor is driven in accordance with an actual command current obtained by subtracting the corrected estimated disturbance (y') from a command current, thereby removing an influence of the disturbance. The parameter (Jm) of the transmission elements (3, 51) is variably adjusted depending on changes of the inertia of the machine. attributable to changes of the operating state of the machine, so as to properly effect the disturbance estimation and removal even though the fluctuations of the inertia are substantial.

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