| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that conventional notch filtering or input shaping to be applied to a command is superior in suppressing residual vibrations but may move along a track that is different from a command track programmed by a user.SOLUTION: A motor controller is configured to correct elastic deformation between a servo motor and a driven part that is driven by the servo motor. The motor controller comprises: a positioning command creation part which commands a position of a motor; a correction filter that corrects a positioning command created by the positioning command creation part; and a servo control part which controls a movement of the motor, based on a corrected positioning command that is a positioning command corrected by the correction filter. The correction filter includes a filter F(s) that has an inertia Jof the driven part, a rigidity coefficient K of an elastic deformation part and a damper coefficient C of the elastic deformation part as factors of a filter coefficient.SELECTED DRAWING: Figure 2 |
