| 摘要 |
<p>The present invention relates to servo controller for controlling a plurality of motors including a master motor (M1 ) and a slave motor (M2) cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references (posref) for the master motor, the servo controller comprises a master speed controller (6a) configured to calculate a reference torque (tref1 ) for the master motor based on speed errors (verr1 ) for the master motor. The slave speed controller (6b) is configured to calculate refer ence torques (tref2) for the slave motor based on speed errors (Verr2) for the slave motor. Each of the reference torques includes a proportional torque part (tp1,tp2) and an integral torque part ((tI1,(tI2). The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.</p> |
