| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor controller capable of reducing vibrations caused from characteristics of a machine even when the rigidity between the motor and a load is low and when the rigidity between the motor and a motor installation base is also low.SOLUTION: A motor controller 101 controls to drive a machine 102 as a driving object according to a position command signal xwhich is input from a host controller (not shown). A position command correction section 103 corrects the position command xand outputs the same as a position command corrected signal xm. The position command corrected signal xmis input to a feedforward control section 104 and a feedforward position signal xs, a feedforward speed signal wsand a feedforward torque signal τsare output therefrom. A feedforward torque signal τsis input to a feedforward torque correction section 105 and a feedforward correction signal τcis output therefrom. |
