| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that, if position control is performed on the basis of difference calculation between a position command and position detection, position control designating any arbitrary rotation direction cannot be performed and position control cannot be stably performed in accordance with a resolution of a detector.SOLUTION: A deviation signal between a position command and a signal delayed by one sampling is calculated and inputted to a rotation direction designating command correction section. The rotation direction designating command correction section corrects the deviation of the position command so as to perform drive in such a direction that a deviation between the last rotation command and the present rotation command is settled within 180°. The correction depends on a relation between the last position command and the present position command and in the case of 0°<|&Dgr;&thetas;ref|<180°, a signal of &Dgr;&thetas;ref is outputted. In the case of [180°<|&Dgr;&thetas;ref|<360°], a correction signal of [|&Dgr;&thetas;ref|-360°] is outputted and when the position command indicates 180°, a driving signal in any arbitrary direction is outputted. |
