| 摘要 |
The present invention improves disturbance suppression performance and position determination performance at the same time. A phase passing device (125) puts a phase of a speed feedback ahead to compensate phase delay of a high frequency area of the speed feedback from a motor (110). A time constant adding device (130) multiplies a time constant for suppressing the influence of disturbance by the difference between a speed command of the motor and the speed feedback which puts the phase ahead. An integrator (140) integrates a command after the time constant is multiplied in the time constant adding device. A speed proportion gain device (150) adds the difference between the speed command and the speed feedback to the command which is integrated in the integrator and outputs a torque command of the motor by multiplying a speed proportion gain by the added command. A torque controller (160) controls power which is provided to a coil of the motor (110) by inputting the torque command. [Reference numerals] (110) Motor; (115) Encoder; (120) Speed calculator; (125) Phase passing device; (130) 1/speed integral time constant; (150) Speed proportion gain device; (160) Torque controller; (AA) Speed command; (BB) Speed feedback; (CC) Torque command |
