| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce control errors caused by the amount of deflection caused between a servomotor and a load position because of disturbance torque, in a position controller for controlling the position of the subject of control that is driven by the servomotor via a ball screw. <P>SOLUTION: A disturbance observer 12 modeled after a system to be controlled is provided. Using a model, the disturbance observer estimates disturbance torque based upon the difference between a command value of torque generated by the motor and torque working on the subject of control and calculated on the basis of the actual position of the motor. The amount of deflection compensation is determined in such a manner as to compensate the amount of deflection due to the disturbance torque of the system to be controlled. The amount of deflection compensation is added to a position command. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
