| 摘要 |
PROBLEM TO BE SOLVED: To provide a position control apparatus capable of reducing overshoot without reducing a disturbance suppression characteristic. SOLUTION: The position control apparatus provided with a proportion computing element (20) for generating a first torque by proportionally operating a positional deviation between a position command and a motor position, an integration computing element (40) for generating a second torque command by integrally operating the positional deviation, a differential computing element (30) for generating a third torque command by differentially operating the positional deviation, and an adder (2) for generating a torque command by adding the first torque command, the second torque command and the third torque command is also provided with a feedforward controller (100) for generating a feedforward signal from the positional command and a differentiator (4) for generating a new torque command by subtracting the feedforward signal from the torque command. COPYRIGHT: (C)2008,JPO&INPIT
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