CONTROLLER AND CONTROL PROGRAM OF MOTOR

摘要

PROBLEM TO BE SOLVED: To provide a controller of motor which achieves both damping control and high speed response while suppressing saturation of driving force signals such as a torque command.

SOLUTION: A saturation determination means 6 determines whether a driving force signal τrexceeds a limit value τLIMor not. When the driving force signal τrexceeds the limit value τLIM, a command correction means 7 corrects a command signal Xr*by using a difference eTbetween the driving force signal τrand the limit value τLIMand outputs a corrected command signal Xr1*to a damping filter 5. The damping filter 5 corrects the corrected command signal Xr1*to a damping command signal Xr2*with the signal component minimized at a damping frequency and outputs it to a deviation operating means 3.

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