| 摘要 |
PROBLEM TO BE SOLVED: To perform positioning control by obtaining a shaft torsion angle without using a linear encoder.SOLUTION: Acceleration information 17 from a first acceleration sensor 13 mounted in a load (head L) is inputted to a load-side disturbance observer 16, the acceleration information 17 is integrated (19) twice and converted into positional information 20, a value obtained by subtracting positional information 21 of a motor encoder 11 therefrom is inputted to the load-side disturbance observer as a shaft torsion angle 18, and the load-side disturbance observer 16 estimates a load-side disturbance. The shaft torsion angle 18 is multiplied by a shaft torsion constant Kand a shaft torsion amount feedback gain Kand fed back. |
