SERVO CONTROL DEVICE

摘要

A servo control device is provided with: a following control unit (2) that controls a control target (1) that drives the mechanical system in a motor so that motor motion corresponding to a motor position or a motor speed follows a motor motion command; a command function unit (51) that inputs a phase signal (θ) representing the phase of a cyclic operation that the control target (1) is made to perform and calculates a mechanical motion command that corresponds to the phase signal (θ) by using a preset first function; a second derivative unit (52) that, using a preset second function as a second derivative that is a function in which second-order differentiation of the first function is performed using the phase signal, calculates a value of the second function that corresponds to the phase signal as a second-order differentiation base signal; a correction value calculation unit (53) that uses the product of the square of phase velocity, the second-order differentiation base signal, and a first fixed number to calculate a first command correction value for correcting the motor motion command; and a correction value addition unit (54A) that calculates a motor motion command on the basis of the addition value of the first command correction value and the mechanical motion command.