SERVO CONTROL DEVICE HAVING AUTOMATIC FILTER ADJUSTMENT FUNCTION BASED ON EXPERIMENTAL MODAL ANALYSIS

摘要

A servo control device includes: a speed control loop including a speed command generating unit, a torque command generating unit, and a speed detecting unit; a sine wave disturbance input unit; a frequency response calculating unit estimating a gain and phase of speed control loop input/output signals; a resonance frequency detecting unit; a resonance mode characteristic estimating unit estimating resonance characteristics from the frequency response at a resonance frequency and frequencies therearound; a rigid-body mode characteristic estimating unit estimating rigid-body characteristics from the frequency response in a low-frequency band; a filter attenuating a component in a particular frequency band in a torque command; and a filter adjusting unit making setting so that the filter has specified characteristics. The filter adjusting unit further includes a filter adjusting part attenuating a component in a frequency band corresponding to a resonance mode estimated by the resonance mode characteristic estimating unit.