CONTROLLER AND CONTROL METHOD FOR PRESSING BY SERVO MOTOR

摘要

An applied force Td is estimated by an observer. A gain A is multiplied by a value obtained by subtracting the estimated applied force Td from commanded force Fc. From this multiplied value, product of a speed feedback amount and a gain Kv is subtracted to obtain a torque command. With this torque command Tc, servo motor (2) is driven. Since feedback control of applied force is performed, response is fast, and applied force can be accurately controlled. Feedback control of an applied force whose vibration is prevented can be performed by adjusting the gains A and Kv. <IMAGE>