PID CONTROL DEVICE AND METHOD FOR MOTION CONTROL OF MOTOR

摘要

PURPOSE: A proportional integral derivative controller for controlling the motion of a motor and a controlling method thereof are provided to improve tracking performance by setting a proportional gain Kp and an integral gain Kd for a proportional integral differential control. CONSTITUTION: A PID(Proportional Integral Derivate) controller(103) performs a proportional integral differential control of an error. A high pass filter removes a low frequency element from a control result. An RMS(Root Mean Square) output unit outputs RMS from the output of the high pass filter. A proportional gain output unit outputs a proportional gain Kp to the PID controller. The proportional gain Kp follows the RMS. A differential gain output unit outputs the differential gain Kd according to the proportional gain Kp to the PID controller.