| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller capable of equalizing the response of a desired axis to the one of a prototype model part, even during acceleration and deceleration, in a multi-axis servo system. <P>SOLUTION: In this motor controller provided with a plurality of motor controllers 10, having a speed control part 102 which generates a torque command, based on speed variations between the speed command and motor speed and a current control part 103 which drives the motor based on the torque command, and an input/output processing part 13 which processes an input/output in an external apparatus and the inside, there are provided the prototype model part 11, having a speed control model part which generates the model torque command, based on the model speed variations between the speed command and the model speed, a current control model part which simulates the response of the current control part and an integrator which generates the model speed, and a control constant adjusting part 12 which adjusts the control constant of the speed control part, based on the integral value of an absolute value of the model torque command and on the integral value of an absolute value of at least one torque command selected from the motor control parts. <P>COPYRIGHT: (C)2009,JPO&INPIT |
