| 摘要 |
PROBLEM TO BE SOLVED: To provide a position control device capable of suppressing a stick slip which occurs during feed in an extremely low speed region in full-closed position control.SOLUTION: An adder 5 and an adder 24 add an output obtained by multiplying actual speed deviation El by a proportional gain Pl, an integral component Til of the actual speed deviation which is obtained by inputting the actual speed deviation El to an integral compensator 25, an output obtained by multiplying motor speed deviation Em by a proportional gain Pm, and an integral component Tim of the motor speed deviation which is obtained by inputting the motor speed deviation Em to an integral compensator 9, and the result is outputted as a torque feedback command Tfb. Here, the integral compensator 25 and the integral compensator 9 have a coefficient changer capable of being changed from 0 to 1 in order to adjust an integral gain Kl and an integral gain Km in accordance with a value of a speed feed-forward command Vr or a speed command Vc. By setting the integral gain Kl to be large to increase the response speed of switching from static friction torque to kinetic friction torque in the extremely low speed region in which an influence of lost motion is small, the stick-slip is suppressed. |
