Acceleration controlled type servo system.
Yoichi Hori · IEEJ Transactions on Industry Applications · 1988
PURPOSE:To improve the suppressing performance of load disturbance by feeding back the speed and acceleration of a servomotor to control the servomotor and to control total acceleration including the acceleration of a motor and a load. CONSTITUTION:An output from a speed controller 1 is used as an acceleration command to control acceleration. Therefore, acceleration (a) obtained by differentiating the output of a tachogenerator in the servomotor 6 by an acceleration computing element 3 is fed back to a subtractor 5 connected before a hysteresis comparator 2 to allow the element 3 to follow up the acceleration (a). Namely, the acceleration control type servo system controls directly the total acceleration of the whole system including the motor and the load. Thereby, the system constitution is extremely resisting against the influence of load torque, all kinds of frictional torque, and so on. When it is supposed that the input of the comparator 2 is '0', a transmission function from the load torque up to the speed is '0', so that the influence of the load torque does not logically appear.