| 摘要 |
PURPOSE:To obtain an excellent vibration suppressibility and high control accuracy by operating an input value to a motor drive system being a control object on the basis of a target value including at least a target rotational angular velocity, and compensating this input value on the basis of an output value including at least a rotational angular velocity from the control object. CONSTITUTION:A motor drive system composed of a motor 1 and a mechanical part 3 rotation-driven by this motor 1 through the medium of a spring element 2 is a control object 4. An input value to the control object 4 is operated at No.1 controller 5 on the basis of target values including at least a target rotational angular velocity. This input value is compensated in No.2 controller 6 on the basis of output values from the control object 4 including at least the rotational angular velocity of the mechanical part 3. By constituting a controller 7 in this way, a command torque tau having at least terms of the target rotational angular velocity and the rotational angular velocity of the mechanical part 3 is given to the control object 4. Accordingly, it becomes possible to suppress vibration effectively and raise the control accuracy. |
