POSITION CONTROLLER

摘要

A position controller and a position control method which can achieve high-speed high-precision follow-up characteristics of position command free from overshoot, and can achieve strong suppression characteristics for external disturbance. A position controller comprises a position control section (1) for calculating a speed command based on the deviation of the rotational position of a motor from the position command, a PI control section (2) for calculating a torque command based on the deviation of a feedback speed from the speed command, and an observer (6) for generating the feedback speed based on the torque command and the rotational speed of the motor. The position controller further comprises a phase lead compensator (5) for generating a phase lead compensation signal of the torque command from the speed command, and an adder (9) for generating a new torque command by adding the torque command and its phase lead compensation signal.