| 摘要 |
PROBLEM TO BE SOLVED: To reduce the possibility of the occurrence of overshoot.SOLUTION: When a position deviation &Dgr;x between a position command Cp and a current position Yr is smaller than a first threshold &bgr;, a positioning control device 10 sets a speed command Vc to 0, and subtracts the speed command Vc and a current speed Vr to obtain a speed deviation &Dgr;v. The positioning control device 10 integrates the speed deviation &Dgr;v by an integrator 14. Afterwards, when the position deviation &Dgr;x is smaller than a second threshold α, the positioning control device 10 keeps setting the integrated value of the integrator 14 to 0. When the position deviation &Dgr;x is smaller than the second threshold α, the speed command Vc and the integrated value of the integration means 14 are set to 0, and when the current speed Vr is set to 0, the positioning control device 10 outputs a torque command Tc indicating 0. |
