| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller for simplifying constitution and switching control modes, if the motor is controlled with switching between position control and torque control. <P>SOLUTION: The motor controller is provided with a position control means for creating a speed command ω, based on the difference between a position command P and a current motor position Pm, a speed control means for creating a first torque instruction T1, based on the difference between the speed command ω and a current motor speed ωm, a torque command converting means 3 for multiplying the position instruction P by a conversion constant and creating a second torque command T2, and a control mode switching means 4 for inputting the first and second torque commands T1, T2, and creates the first torque command T1 for controlling a motor position and the second torque command T2 for controlling motor torque, based on the position command P. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
