| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a position or a speed controller which can realize improvement in the controllability, in a feedback system that includes a motive power transmission mechanism where the coupling rigidity between a motor and a mechanical load is not sufficient. <P>SOLUTION: When the speed controller, which controls the speed of a mechanical load 11 connected to the motor 10 via a decelerator 12, a load speed controller 16 computes a load axis torque command, based on the difference between the load speed command and the computed value of the load speed, and outputs a twist angle command θref, based on the computed value. Then, the speed controller is equipped with a twist angle controller 17 which outputs a motor torque command to the minor loop of the load speed controller, based on the difference between the twist angle command and the computed value of the twist angle Δθ. <P>COPYRIGHT: (C)2009,JPO&INPIT |
