| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a controller which can obtain an appropriate command response characteristic while vibration of a machine device is suppressed in operation control of the machine device having a multi-inertia resonance characteristic by motor driving. <P>SOLUTION: The motor controller includes a closed loop control system in which the multi-inertia resonance system comprising a motor, a load and a coupling part coupling them is set to be a control object and which controls the motor based on a difference between a control command value and a state amount which is fed back from the control object. The closed loop control system includes a first control means deciding a motor torque command from a motor speed command and a damping control unit 10 suppressing vibration in accordance with the state amount. A first gain of the first control means and a second gain of the damping control unit are decided with a cut off frequency ω<SB>S</SB>of a sensitivity characteristic of the closed loop control system and a cut off frequency ω<SB>CS</SB>of a complementary sensitivity characteristic of the closed loop control system as adjusting parameters. <P>COPYRIGHT: (C)2010,JPO&INPIT |
