| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller and its control method capable of suppressing vibration with respect to the vibration frequency which depends on motor speed in a wide frequency band from low frequency to high frequency, without depending on machine characteristic. <P>SOLUTION: The motor controller is provided with a speed estimating device 105 for estimating the speed of a motor or a machine system, a vibration signal generating device 108 which generates a vibration signal on the basis of the difference between the estimated speed estimated by the speed estimating device and the speed of the motor or the machine system, a correction amount computing device 106 for computing the correction amount on the basis of the vibration signal, and a frequency computing device 107 which generates vibration frequency from a speed command or speed. The estimated gain of the speed estimating device is set to a value proportional to the vibration frequency, the phase adjusting filter time constants of the correction amount computing device 106 are set to the value inversely proportional to the vibration frequency, and the correction amount is added to the speed deviation. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
