| 摘要 |
PROBLEM TO BE SOLVED: To automatically set optimum feedforward gain minimizing deviation between a target instruction and motor output. SOLUTION: This servo control device has a feedforward gain change means 5 capable of automatically setting the feedforward gain in a feedforward controller such that a maximum value of a deviation absolute value between the target instruction and the output of a motor 2 is minimized. A feedback controller 4 imparts control input such that the target instruction and the output of the motor 2 are brought into line to a motor controller 3. A feedback controller 6 imparts a plurality of feedforward signals obtained by multiplying a plurality of compensation signals such that the deviation in time of constant acceleration/deceleration velocity and in time of constant velocity becomes zero with the target instruction as input by the feedforward gain set in the feedforward gain change means 5 to the motor controller 3, and the motor controller 3 controls the motor 2. COPYRIGHT: (C)2006,JPO&NCIPI
|
