| 摘要 |
PROBLEM TO BE SOLVED: To provide a position controller capable of suppressing vibrational behavior of a driven body, and properly preventing generation of an overshoot of a position or a velocity of the driven body. SOLUTION: This fourfold loop position controller 1 having a drive control part 5 including a motor speed control loop controlling a motor speed Vm and a current control loop controlling a motor current I, a velocity control loop 3 controlling the velocity Vd of the driven body 2, and a position control loop 4 controlling the position Pd of the driven body 2 is provided with an adder 6 adding an output value from the position control loop 4 and an output value from the velocity control loop 3 and inputting it to the motor speed control loop. Because the position controller 1 functions as a primary delay-system controller by providing the adder 6, the generation of the overshoot can be properly prevented even if setting each transfer function of the position controller 1 from the viewpoint of the suppression of the vibrational behavior of the driven body 2. COPYRIGHT: (C)2006,JPO&NCIPI
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