JPH01142015U - - Google Patents
Info
- Publication number
- JPH01142015U JPH01142015U JP3730788U JP3730788U JPH01142015U JP H01142015 U JPH01142015 U JP H01142015U JP 3730788 U JP3730788 U JP 3730788U JP 3730788 U JP3730788 U JP 3730788U JP H01142015 U JPH01142015 U JP H01142015U
- Authority
- JP
- Japan
- Prior art keywords
- signal
- output
- speed
- offset
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position Or Direction (AREA)
Description
第１図はこの考案の一実施例によるサーボ装置
の構成図、第２図は従来のサーボ装置の構成図で
ある。
図中１はアンテナ、２はＣｘ、３はＳ／Ｄ、４
はＴＧ、５はＡ／Ｄ、６は角度誤差演算手段、７
は角速度指令演算手段、８は角速度誤差演算手段
、９は調節手段、１０はＤ／Ａ、１１はサーボ増
幅器、１２はモータ、１３はオフセツト検出手段
、１４はオフセツト調整手段である。なお、図中
同一符号は同一あるいは相当部分を示す。
FIG. 1 is a block diagram of a servo device according to an embodiment of this invention, and FIG. 2 is a block diagram of a conventional servo device. In the figure, 1 is the antenna, 2 is Cx, 3 is S/D, 4
is TG, 5 is A/D, 6 is angular error calculation means, 7
8 is an angular velocity command calculation means, 8 is an angular velocity error calculation means, 9 is an adjustment means, 10 is a D/A, 11 is a servo amplifier, 12 is a motor, 13 is an offset detection means, and 14 is an offset adjustment means. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
に制御するサーボ装置において、位置検出器と、
位置信号をデジタル信号に変換する変換器と、位
置指令とデジタル化された位置信号の偏差から速
度指令を演算する速度指令演算手段と、速度検出
器と、その速度信号をデジタル信号に変換するア
ナログ／デジタル変換器と、デジタル化された速
度信号と位置指令を入力し速度信号のオフセツト
を検出するオフセツト検出手段と、オフセツト検
出手段の出力に基づき速度信号からオフセツトを
除去するオフセツト調整手段と、上記速度指令演
算手段の出力と上記オフセツト調整手段の出力の
偏差を、所定の制御理論にもとづき演算処理する
調節手段と、調節手段の出力をアナログ信号に変
換するデジタル／アナログ変換器と、上記デジタ
ル／アナログ変換器の出力を電力増幅するサーボ
増幅器と、上記サーボ増幅器の出力を受け、被制
御物を駆動するモータとで構成したことを特徴と
するサーボ装置。 In a servo device that controls a controlled object to direct it to a given position command, a position detector;
A converter that converts a position signal into a digital signal, a speed command calculating means that calculates a speed command from the deviation between the position command and the digitized position signal, a speed detector, and an analog converter that converts the speed signal into a digital signal. /a digital converter, an offset detection means for inputting a digitized speed signal and a position command and detecting the offset of the speed signal, an offset adjustment means for removing the offset from the speed signal based on the output of the offset detection means, and the above-mentioned an adjusting means for calculating the deviation between the output of the speed command calculating means and the output of the offset adjusting means based on a predetermined control theory; a digital/analog converter for converting the output of the adjusting means into an analog signal; A servo device comprising: a servo amplifier that amplifies the power of the output of an analog converter; and a motor that receives the output of the servo amplifier and drives a controlled object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3730788U JPH01142015U (en) | 1988-03-22 | 1988-03-22 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3730788U JPH01142015U (en) | 1988-03-22 | 1988-03-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01142015U true JPH01142015U (en) | 1989-09-28 |
Family
ID=31263890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3730788U Pending JPH01142015U (en) | 1988-03-22 | 1988-03-22 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01142015U (en) |
-
1988
- 1988-03-22 JP JP3730788U patent/JPH01142015U/ja active Pending