| 摘要 |
PROBLEM TO BE SOLVED: To provide a position controller for further improving working accuracy. SOLUTION: This position controller is configured to perform position control for calculating a speed command Vc by multiplying a position deviation between a position command Pc and a detection position Pm by a position loop gain Kp and speed control for calculating a speed deviation being a difference value between the speed command Vc and a detection speed Vm, then calculating a torque command Tc by adding the multiplied value of the speed deviation and a speed loop proportional gain Pv and the multiplied value of the speed deviation and a speed loop integral gain Iv to thereby control a servo motor 10, so that it is possible to control the position of a control object 12 to be driven through a ball screw 11 by the servo motor 10. This position controller is provided with means 16, 17 and 18 for calculating the jerk of the value change of the position command Pc and a gain arithmetic part 19 for varying at least one of the position loop gain Kp, the speed loop proportional gain Pv and the speed loop integral gain Iv according to the magnitude of the jerk. COPYRIGHT: (C)2009,JPO&INPIT
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