| 摘要 |
In a quadruple loop position control device ( 1 ) including: a drive controller ( 5 ) having a current control loop that controls motor current (I) and a motor speed control loop that controls a motor speed (Vm); a speed control loop ( 3 ) that controls a speed (Vd) of a driven body ( 2 ); and a position control loop ( 4 ) that controls a position (Pd) of the driven body ( 2 ), an adder ( 6 ) that adds an output value from the position control loop ( 4 ) and an output value from the speed control loop ( 3 ) and inputs an addition result to the motor speed control loop is provided. By providing the adder ( 6 ), the position control device ( 1 ) functions as a control device of a first-order system, so that occurrence of an overshoot may securely be avoided even when respective transfer functions of the position control device ( 1 ) are set for purpose of suppressing a vibrating behavior of the driven body ( 2 ).
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