| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a control device of a motor that can suppress a shock caused by a torque variation accompanied by a gain change, in the control device of the motor. <P>SOLUTION: A control parameter change part determines and changes a gain change value so that the change of a torque command caused by the gain change value at each control cycle with respect to a gain change target value is in a prescribed amount, whereby a torque abrupt change accompanied by the gain change is suppressed and the shock is alleviated. Furthermore, since the gain change value is determined on the basis of a speed deviation, the change amount of a gain is automatically increased when the speed deviation is small, and the suppression of the torque abrupt change and a quick gain change can be made compatible. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
