| 摘要 |
PROBLEM TO BE SOLVED: To appropriately compensate for a driving torque in the case where an oil film decreased and a frictional force is increased by repeating movement within a minute range (repeated short-distance movement) in a driving system of a machine tool or the like.SOLUTION: A code computing element 15 detects code inversion timing, namely, axial moving direction inversion and outputs a code. A multiplier 18 multiplies the code and a preset compensation torque value Tf16 and outputs Tf'. A multiplier 19 multiplies Tf' by a compensation torque coefficient Kt outputted by a compensation torque coefficient computing element 17 and outputs a compensation torque Tfc. After the moving direction inversion, a value of the compensation torque coefficient Kt becomes greater as a distance of separation from a position of the inversion becomes longer and as an integrated value of a moving distance by repeated short-distance movement becomes greater. |
