| 摘要 |
<p>The present invention relates to a motor controlling device capable of increasing following a performance of command. The motor controlling device (100) comprises: a differentiator (110) differentiating a speed command input from the outside; a torque feed forward unit (112) generating a first torque command which is a torque command of a feed forward system based on the differentiated speed command; a speed control unit (114) generating a second torque command based on the speed command input from the outside and a deviation of speed feedback; a torque command filter (116), in the second torque command, suppressing mechanical resonance and quantization ripple of an encoder; an additional point generating a third torque command by adding the first torque command and the second torque command output from the torque command filter (116); and a torque control unit (118) controlling the operation of the motor using the third torque command.</p> |
