POSITION CONTROLLER USING FEEDFORWARD COMPENSATION

摘要

PURPOSE:To improve the precision of a locus and to shorten positioning time by providing a feedforward loop including a dead time element and a 1st-order delay element at a velocity command part in addition to a position feedback loop. CONSTITUTION:A position control part is comprised of a position loop control part 1 and a feedforward compensation part, and the position loop control part 1 outputs a signal in which a position command from a host and the deviation of a position feedback value from a pulse generator 8 are multiplied by a position gain. The feedforward compensation part is comprised of a differentiation processing 2, a gain part 3, and the idle time element 4. The output signal of the position loop control part 1 is added on that of the feedforward compensation part, and is inputted to a D/A converter 5, and the D/A converter 5 inputs a converted signal to a velocity control unit 6 as a velocity command. The velocity control unit 6 decides the output voltage to the motor 7 corresponding to the velocity command, the differential value of position feedback from the pulse generator 8, and an output voltage from a current feedback value from a motor 7. Thereby, the high precision of the locus can be realized, and fast positioning can be performed.