| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller capable of quickly and securely positioning a control object. <P>SOLUTION: A position controller 410 calculates a speed command from deviation between a model position of a control object of a production machine output from a model control system 300 and a position of the control object. A speed controller 420 outputs a torque command based on the deviation between a speed command that is the differential of a model position output from the model control system 300, a speed command that the position controller 410 has calculated, and a speed command that is the differential of the position a motor 120 that drives the control object. A torque controller 455 adds a model torque command for driving the control object of the production machine output from the model control system 300 and a torque command output from the speed controller 420 to control the torque of the motor 120. The speed controller 420 outputs a torque command only by a proportional controller 422 when the motor 120 drives the control object and outputs a torque command by an integral controller 424 and the proportional controller 422 when the motor 120 does not drive the control object. <P>COPYRIGHT: (C)2013,JPO&INPIT |
