Patent ID: 9541908
Date: 2017-01-10
CPC Classifications: G05B,H02P

Claim:
1. A control method for a servo motor controller which controls a servo motor having a current limiting unit, the control method comprising: detecting an output of a limited current as a current command of the current limiting unit; adjusting an estimated disturbance gain of the servo motor controller as a response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit, based on the adjusted estimated disturbance gain, wherein the servo motor controller includes: an external disturbance compensator configured to calculate an estimated disturbance value, based on the estimated disturbance gain and a switching function which is a function for an error between position and velocity commands input from the outside and position and velocity of the servo motor; and a variable structure controller configured to generate the control input, based on the switching function and the estimated disturbance value.