| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller capable of stably controlling a motor by tandem control with excellent responsiveness. <P>SOLUTION: The motor controller of a tandem system is for driving one shaft using a master shaft motor and at least one slave shaft motor, includes a position control unit 1, a speed control unit 2 and a current control unit 3 for each motor, is further provided with a torque arbitration unit 5 for calculating an arbitration torque command value Ts1* of the slave shaft from a torque command value Tm* of the master shaft and a torque command value of the slave shaft in the slave shaft and a command inversion detection unit 23 for detecting the inversion of a command from a host controller in the slave shaft. In the case of detecting the inversion of the command from the host controller, the command inversion detection unit 23 sets the arbitration torque command value Ts1* immediately before the command inversion to integration components of the speed control unit 2 of the slave shaft. <P>COPYRIGHT: (C)2012,JPO&INPIT |
