| 摘要 |
In order to obtain a robust and highly accurate servo control device having a disturbance correction function, in which even if state quantities indicating the movement state of a driven body independently change it is not necessary to newly identify disturbance-model parameters, the present invention provides a servo control device (10) that performs control so that the position of a driven device (18) driven by a motor (16) which includes a position detector (20) matches a position command value, and the servo control device (10) comprises the following: a state quantity estimation unit (26) for simultaneously estimating a plurality of state quantities when the driven body (18) is moving; a disturbance estimation unit (24) which includes an adder that outputs a disturbance estimation value by estimating disturbance forces using each of the plurality of state quantities and the disturbance models corresponding thereto and that generates a disturbance correction value from the linear sum of the disturbance estimation values; and a servo control unit (14) for determining the drive current of a motor (16) by adding the disturbance correction value to the signal from the position detector (20). For example, in fig. 1, a plurality of state quantities are estimated and output by a mechanical modeling unit (22). |
