| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a positioning control apparatus which suppresses low frequency vibration of a leading end position of a loading machine and high frequency vibration of a command torque to enable positioning control having reduced noise even when a position command being made discrete and having a waveform changing step-wise is input. Ž<P>SOLUTION: An optional discrete position command generation part 7 of the positioning control device generates a position command x<SB>zr</SB>having a waveform with an optional shape. A discrete position compensation device 8 and a discrete correction secondary filter 9 output the position command x<SB>zr</SB>input from the optional discrete position command generation part 7 as a position command x<SB>zrf</SB>using a transfer function F<SB>d</SB>(z) and a transfer function F<SB>f</SB>(z), respectively. A discrete feedback control device 4 carries out the feedback control of the leading end position of the loading machine by inputting the position command x<SB>zrf</SB>and a signal x<SB>m</SB>for feedbacking a position of a motor which drives the loading machine. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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