| 摘要 |
PROBLEM TO BE SOLVED: To provide a position controller capable of maintaining a favorable friction compensation without providing a dedicated operation mode even when a sliding characteristic of an object system is changed due to a secular change, a temperature change, and a change and the like of a lubrication state of a sliding surface.SOLUTION: The position controller variably sets a friction compensation value according to a change of a sliding characteristic by providing a friction compensation variable calculation part which is constituted of a sliding torque normalization calculation part 1 for normalizing a sliding torque at a prescribed speed, a compensation value amplification ratio calculation part 2 for calculating a compensation value amplification ratio from the sliding torque in a normalized speed, and multipliers 3, 4. |
