| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology is advantageous to achievement of both of synchronous high accuracy and speed-up of control in controlling a plurality of motors.SOLUTION: A control device includes a plurality of feed forward controllers for controlling each of a plurality of motors, and controls the plurality of motors, and the control device in which each of the plurality of feed forward controllers includes a function expressing an input/output characteristic of at least one motor of the plurality of motors different from the motor of a control object of the feed forward controller, and requiring synchronization with the motor out of the control object, and the function includes a product of a function expressing a characteristic of a rigid mode of the at least one motor and character of a resonance mode thereof, and an inverse function of the function expressing the characteristic of the rigid mode.SELECTED DRAWING: Figure 4 |
