| 摘要 |
A servo motor controller for effecting a model reference speed control. An acceleration signal is derived from a speed signal fed back from a servo motor based on differential or difference calculus, an acceleration value of the servo motor (d) is estimated relying on a reference model (2) of the speed control system utilizing a current instruction (T(s)) formed in the speed control loop, the calculated acceleration is compared with an estimated acceleration, and the current instruction (T(s)) is corrected depending upon the result of comparison. <H0> ABSTRACT </H0> The invention provides a servomotor control apparatus which performs standard model-type velocity control. An acceleration signal is formed, by a differential computation or difference computation, from a velocity signal fed back from a servomotor, and an acceleration value of the servomotor (d) is estimated by a criterion model (2) of a velocity control system utilising a current command ÄT(s)Ü formed in a velocity control loop. The computed acceleration and the estimated acceleration are compared and the current command ÄT(s)Ü is corrected in conformity with the results of the comparison. |
