MOTOR POSITION CONTROLLER PROVIDED WITH DEVIATION RIPPLE MONITORING FUNCTION

摘要

PROBLEM TO BE SOLVED: To overcome a drawback in prior arts that there are cases where location deviation signals cannot be observed. SOLUTION: A position controller for controlling the position of a motor is provided with a subtracting means 13 which subtracts a detected position signal from a position command and outputs the deviation 1d; an integrating means 22 which outputs a model position signal; a subtracting means 23 which subtracts the model position signal from the position command and outputs the deviation 2d; a proportional gain means 20 which is fed with the deviation 2d as input; a speed control system model 21 which is fed with the output of the proportional gain means 20 as the input; and a subtracting means 33 which determines the difference between the deviation 1a and the deviation 2d. The output of the speed control system model 21 is inputted to the integrating means 22, and the proportional gain of the proportional gain means 20 is equalized to the position loop gain 10 of the position controller. The output of the subtracting means 33 is used as a monitor signal for the deviation ripple of the motor.