Rotary drive device
A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.
1. A rotary drive device comprising:
a servo motor;
a reduction gear;
a current control unit configured to supply current to the servo motor according to a current reference value;
a controller configured to output an angle reference value of a rotation shaft of the reduction gear;
a first angle-detecting unit configured to detect the rotation angle of the rotation shaft of the servo motor and output a first rotation angle that can be obtained by dividing the detection result by the reduction ratio of the reduction gear;
a second angle-detecting unit configured to detect the rotation angle of the rotation shaft of the reduction gear and output the detection result as a second rotation angle;
a torque calculation unit configured to calculate the torque acting on the rotation shaft of the reduction gear by multiplying the angle difference between the first rotation angle and the second rotation angle by the torsional stiffness of the reduction gear;
an angle-control unit configured to generate a torque reference value needed to bring the second rotation angle close to the angle reference value according to the difference between the angle reference value and the second rotation angle; and
a torque control unit configured to generate the current reference value needed to bring the torque close to the torque reference value according to the difference between the torque reference value and the torque.
2. The rotary drive device according to claim 1 ,
wherein the first angle-detecting unit and the second angle-detecting unit are reflection-type encoder units.
3. A rotary drive device comprising:
a servo motor;
a reduction gear;
a current control unit configured to supply current to the servo motor according to a current reference value;
a controller configured to output an angle reference value of a rotation shaft of the reduction gear and selects one of first and second operation modes;
a first angle-detecting unit configured to detect the rotation angle of the rotation shaft of the servo motor and output a first rotation angle that can be obtained by dividing the detection result by the reduction ratio of the reduction gear;
a second angle-detecting unit configured to detect the rotation angle of the rotation shaft of the reduction gear and output the detection result as a second rotation angle;
a torque calculation unit configured to calculate the torque acting on the rotation shaft of the reduction gear by multiplying the angle difference between the first rotation angle and the second rotation angle by the torsional stiffness of the reduction gear, when the first operation mode is selected;
a first angle-control unit configured to generate a torque reference value needed to bring the second rotation angle close to the angle reference value according to the difference between the angle reference value and the second rotation angle, when the first operation mode is selected;
a torque control unit configured to generate the current reference value needed to bring the torque close to the torque reference value according to the difference between the torque reference value and the torque;
an angle-conversion calculation unit configured to generate an output reference value by multiplying the angle reference value by a value obtained by dividing the resolution of the second angle-detecting unit by the resolution of the first angle-detecting unit, when the second operation mode is selected; and
a second angle-control unit configured to generate the current reference value needed to bring the first rotation angle close to the output reference value according to the difference between the output reference value and the first rotation angle.