| 摘要 |
PROBLEM TO BE SOLVED: To suppress vibration which is easy to occur when gain is switched.SOLUTION: In gain switching of a servo amplifier, at the time of gain switching, two gains to be switched in accordance with a control state are weighted to gradually perform gain switching. According to the control state of a motor, a gain switching section is provided, and a gain value in this section is calculated from values of two gains to be switched and the control state of the motor to perform gain switching. As a result, the gain value in the gain switching section becomes a transient value of two gains to be switched in accordance with the control state of the motor, and the gain switching suppressed in vibration becomes possible since the variation of gain to be switched instantly is reduced. |
