SYSTEM FOR CONTROLLING SERVO MOTOR

Abstract: A system for controlling a servo motor at high speeds and stably. The gain coefficient of proportional arithmetic unit (1) is changed, and the control loop is continuously switched from the PI control to the I-p control. Thus, there is realized a control which possesses the merits of the two.

Description: Technical Field The present invention relates to a method of controlling a servomotor, and more particularly to a servomotor control method for continuously switching a control loop from a PI control mode to an I-p control mode for increased response and stability. Background Art PI and I-p control modes are widely employed for the control of current and speed loops of servomotors. The control process of each of the PI and I-p control modes is carried out in a fixed manner. The PI control mode is highly responsive, but low in stability and accuracy. Conversely, the I-p control mode is highly stable and accurate, but bad in response. JP-A-58075207 discloses a method of controlling a feedback control loop by switching it from a PID mode to an I-PD mode. Disclosure of the Invention In view of the aforesaid drawback of the known control modes, it is an object of the present invention to provide a servomotor control method for continuously switching a control loop from a PI control mode to an I-p control mode for increased response and stability. To accomplish the above object; according to the invention there is provided a method of stably controlling a servomotor at a high speed, comprising the steps of : reading an error; continuously switching a control loop from a PI mode to an I-p control mode in accordance with a proportional component of an input as a function of the error, the error function being defined by: when |e| ≧ Ia, α = 1; when |e| < Ia, α = |e|/Ia; where e is the error, Ia is a predetermined error when the function is switched, and α is a variable for switching the gain of the proportional component; and, controlling the servomotor with the switched control mode. By thus continuously switching the control loop from the PI control mode to the I-p control mode, the response of the PI control mode and the stability and accuracy of the I-p control mode are combined to allow optimum control. In the drawings:- Fig. 1 is a block diagram of an arrangement for carrying out a servomotor control; Fig. 2 is an equivalent block diagram of the arrangement shown in Fig. 1, when a variable α = 1; Fig. 3 is a diagram showing the relationship between an error e and the variable α according to the invention; Fig. 4 is a diagram showing the response of a conventional PI control mode by way of example; Fig. 5 is a diagram showing the response of a conventional I-p control mode by way of example; and Fig. 6 is a diagram showing the response of the servomotor control method according to the present invention. Best Mode for Carrying Out the Invention An embodiment of the present invention will hereinafter be described with reference to the drawings. FIG. 1 shows in block form an arrangement for carrying out a servomotor control. A control loop employed here is a current control loop. Denoted at R(s) is a current command value, Y(s) a current output, 1 a proportional arithmetic unit for the current command value, k2 a proportional gain, and a a variable for multiplying the proportional gain, the variable a being variable in the range of 0 ≦ α ≦ 1. The manner in which the variable a varies will be described in detail later on. Denoted at 2 is an arithmetic unit for producing as an output the difference between the current command value R(s) and the current output Y(s), 3 an integrator, k1 an integral gain, 4 an arithmetic unit for adding the output from the proportional arithmetic unit 1 and the output from the integrator 3, subtracting the product of the current output Y(s) and the proportional gain k2 from the sum, and producing the difference as an output, 5 a servomotor winding, and L the inductance of the servomotor winding. When α = 0, since the path of αk2 is eliminated, the control mode of the arrangement of FIG. 1 becomes an I-p control mode. When α= 1, the arrangement of FIG. 1 becomes equivalent to a control loop shown in FIG. 2, which is of a PI control mode. Those parts shown in FIG. 2 which are identical to those of FIG. 1 are designated by identical reference characters, and will not be described in detail. The manner in which the variable α is controlled will be described below. The variable α is controlled as a function of an error e . FIG. 3 illustrates the relationship according to the invention between the error e and the variable α. The horizontal axis of FIG. 3 indicates e and the vertical axis α. As shown in FIG. 3, when the error e is smaller than a constant value - Ia, the variable α is 1, and when the error e ranges from - Ia to Ia, the variable α is given by: α = |e|/Ia When the error e is larger than Ia, the variable α =1 again. That is, the variable α is expressed as follows: when |e| ≧ Ia, α = 1 when |e| < Ia, α = |e|/Ia When the error e is large, the current control loop is controlled in a manner close to the PI control mode to increase the response. When the error e is small, the current control loop is controlled in a manner close to the I-p control mode to maintain stability and accuracy. Thus, a control mode having the advantages of both of the PI and I-p control modes is achieved. An example of the response of the servomotor control method according to the present invention will be illustrated in comparison with those of conventional PI and I-p control modes. FIG. 4 shows the response of the conventional PI control mode by way of example. The horizontal axis of FIG. 4 represents time (msec.) and the vertical axis a current value. An input is a step input u and an output is a current output y(t). As shown in FIG. 4, the response is quick, but the overshoot is large and the accuracy and stability are bad. FIG. 5 shows the response of the conventional I-p control mode. The horizontal and vertical axes of FIG. 5 indicate the same parameters as those of FIG. 4, with the same unit for the time. As shown in FIG. 5, the response is slow, but the overshoot is small and the stability and accuracy are good. FIG. 6 illustrates the response of the servomotor control method of the present invention by way of example. The horizontal and vertical axes of FIG. 6 indicate the same parameters as those of FIG. 4, with the same unit for the time. FIG. 6 clearly indicates that the response, stability, and accuracy are improved. While the control loop has been described as a current loop, the control loop may become a speed control loop by replacing L in FIG. 1 with (Jm/Kt) or replacing (1/L) with (Kt/Jm). Therefore, not only a current loop but also a speed control loop can be controlled in the same way. Kt represents the torque constant of the servomotor, and Jm the rotor inertia of the servomotor. With the present invention, as described above, inasmuch the control loop is switched continuously between the PI control mode and the I-p control mode, it is possible to control the servomotor with the advantages of both of these control modes. Since the variable in the PI and I-p control modes are varied depending on the error, the servomotor can be controlled in a manner close to the PI control mode when the error is large and close to the I-p control mode when the error is small. Thus, the control depending on the error is made possible.

Claims: A method of stably controlling a servomotor (5) at a high speed, comprising the steps of : reading an error; continuously switching a control loop from a PI mode to an I-p control mode in accordance with a proportional component of an input as a function of the error, the error function being defined by: when |e| ≧ Ia, α = 1; when |e| < Ia, α = |e|/Ia; where e is the error, Ia is a predetermined error when the function is switched, and α is a variable for switching the gain of the proportional component; and, controlling the servomotor with the switched control mode. A method according to claim 1, wherein the control loop is a current loop. A method according to claim 1, wherein the control loop is a speed loop.

Inventors: IWASHITA Y FANUC DAI- BIRA-KAR, SAKAMOTO KEIJI, SEKI SHINJI, IWASHITA, Y FANUC DAI-3 BIRA-KARAMATSU, 3527-1, SAKAMOTO, KEIJI, SEKI, SHINJI
Applicants: FANUC LTD, FANUC LTD.
Application year: 1989
Main classification: H02P5
IPC codes: H02P29, H02P23, G05B11