Patent ID: 9465381
Filing Date: 2016-10-11
CPC Classification: G05B

Claim Text:
1. A servo control device comprising: a speed command generating unit configured to generate a speed command value for a servomotor; a torque command generating unit configured to generate a torque command value for the servo motor based on the speed command value; a speed detecting unit configured to detect speed of the servomotor driven based on the torque command value; a speed control loop configured to include the speed command generating unit, the torque command generating unit, and the speed detecting unit; a sine wave disturbance input unit configured to input sine wave disturbance to the speed control loop; a frequency response calculating unit configured to estimate a frequency response including a gain and a phase of speed control loop input/output signals based on an output from the speed control loop at time when the sine wave disturbance is input to the speed control loop; a resonance frequency detecting unit configured to detect a resonance frequency, at which the gain of the frequency response is local maximum; a resonance mode characteristic estimating unit configured to estimate a resonance characteristic from the frequency response at the resonance frequency and frequencies around the resonance frequency; a rigid-body mode characteristic estimating unit configured to estimate a rigid-body characteristic from the frequency response in a low-frequency band; a filter configured to attenuate a component in a particular frequency band included in a torque command; and a filter adjusting unit configured to make setting of the filter so that the filter has a specified characteristic, wherein the filter adjusting unit further includes a filter adjusting part configured to attenuate a component in a frequency band corresponding to a resonance mode estimated by the resonance mode characteristic estimating unit.