| 摘要 |
A first angle-detecting unit (10A) outputs a first rotation angle (¸m) according to the rotation angle of a rotation shaft of a servo motor (1). A second angle-detecting unit (17A) outputs a second rotation angle (¸g) according to a rotation angle of a rotation shaft of a reduction gear (13). A torque calculation unit (25) calculates the torque (T) acting on the rotation shaft of the reduction gear (13) according to the angle difference (¸diff) between the first rotation angle (¸m) and the second rotation angle (¸g). An angle-control unit (24) generates a torque reference value (Tref) according to the difference between the angle reference value (¸gref) and the second rotation angle (¸g). A torque control unit (26) generates a current reference value (Iref) according to the difference between the torque reference value (Tref) and the torque (T). |
