| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robust servo controller capable of restraining adverse affects, such as load fluctuations, and capable of attaining high-speed followability to a target command, and to provide a control method therefor. <P>SOLUTION: This servo controller is provided with a prototype model part 7, comprising a model position control part 72, the first model speed control part 74, the second model speed control part 76, a nominal plant 77 accelerated by a model torque command to generate a model speed, the third low-pass filter 78 for shielding high area of the second model speed, to generate the first model speed, and a model integration part 79 for integrating the first model speed to generate a model position. The first model speed command is added to a speed command to generate a new speed command, the first torque command is added to the model torque command to generate the new first torque command, and the model position is set as the first position command. <P>COPYRIGHT: (C)2008,JPO&INPIT |
