| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller having high followability at a constant speed by reducing a feedforward amount in accordance with a machine to follow a command, simplifying control operation to reduce overshoot in acceleration and deceleration, and to provide an estimation control method. <P>SOLUTION: The motor controller includes: a position command difference buffer section (21) for storing position commands per sampling time; and an estimation operating section (22) for generating a speed command based on a position command of the position command difference buffer section and a position deviation of the position of the motor. The position command difference buffer section has two stages when using only speed feedforward, and four stages when using only torque feedforward. <P>COPYRIGHT: (C)2010,JPO&INPIT |
