| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller which suppresses a plurality of vibration with simple constitution, and to provide its control method and its applicable mechanical system. <P>SOLUTION: The motor controller includes a position control portion (1) to generate a speed command based on a position command and a motor position, a speed control portion (2) to generate a torque command based on the speed command and a motor revolution speed, and a motor drive portion (3) to drive a motor based on the torque command, and drives a machine comprising N links of first to Mth vibration modes. The motor controller further includes N coefficient portions (6) to generate first correction signals, N phase correcting portions (7) which correct phases of the first correction signals to generate second correction signals, and an adding/subtracting portion (5) which subtracts the second correction signals from the speed command, and generates a new speed command. The first correction signals are generated by multiplying acceleration signals of N acceleration sensors by coefficients, wherein the sensors are fitted to ends or vibration nodes of the N links. <P>COPYRIGHT: (C)2009,JPO&INPIT |
