| 摘要 |
<p>A positioning servocontroller performs optimum positioning simply by adjusting control gain. A positioning servocontroller comprises speed feedforward control means (22) that uses a speed command corresponding to the sum of a position deviation and a first feedforward compensation; acceleration feedforward means (23) that uses an acceleration command corresponding to the sum of a speed deviation and a second feedforward compensation obtained by amplifying and differentiating the first feedforward compensation amount; and a torque amplifier (3) that drives an object based on an acceleration deviation as a torque command. The first feedforward gain and the second feedforward gain are derived from a function that uses the values of control gain as arguments.</p> |
