| 摘要 |
PROBLEM TO BE SOLVED: To provide a drive controller for controlling the position of a mechanical end with high accuracy by smoothly switching between semi-closed loop control and full-closed loop control, in a device including an actuator-driven movable part, with respect to a nonlinear system.SOLUTION: A servo amplifier (the drive controller) 3 includes: a motor-end sensor 2 detecting the position of the rotation of a motor 4; a semi-closed loop control means performing semi-closed loop control on the motor 4; a mechanical-end sensor 8 detecting the position of a mobile body 9 moved in a nonlinear path; a full-closed loop control means performing full-closed loop control on the motor 4 on the basis of the position of the mobile body 9; a switch 30 for selecting a semi-closed speed command or a full-closed speed command; and a speed limiter 31 mounted in a stage subsequent to the switch 30 for limiting the speed commands within a predetermined value and absorbing the fluctuations of the speed commands in switching the control. |
