| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device capable of expanding a control area up to an operation range where speed saturation is caused and also improving stability and followability of control.SOLUTION: A speed saturation compensation part 40 includes: a speed limit value setting part 42 which previously has a function defining a speed limit value for a position, and sets a speed limit value vcorresponding to a last value ri[n-1] of a position command by using the function; a speed calculation part 43 which calculates a command speed v[n] from the last value ri[n-1] and a current value ri[n] of a position command input from a main loop; and a compensation part 44 which employs the current value ri[n] of the position command as a compensation position command ro[n] when the command speed v[n] is equal to or less than the speed limit value v, and calculates a compensation position command ro[n] such that the command speed v[n] becomes equal to or less than the speed limit value vby using the last value ri[n-1] of the position command when the command speed v[n] exceeds the speed limit value v. |
