| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller which can easily adjust a parameter of two-degrees of freedom system servo control, and to realize safe control of operation of a motor. <P>SOLUTION: In the two degrees of freedom system motor controller which comprises a feedback part 20 and a feed-forward part 10, the feed-forward part 10 comprises a proportional amplifier 11 to obtain a pseudo-speed signal, by multiplying by the coefficient a pseudo-position command signal, a target model circuit 12 to be controlled inputting the pseudo-speed signal and outputting a model speed signal ωs, a differentiating portion 13 for differentiating the pseudo-speed signal, and an integral portion 14 integrating the model speed signal. The feed-forward signals (rf, ωf, Trf) are output to the feedback part 20, and the feed-forward part 10 can be constitute of a primary delay system, and thus the parameter can be adjusted eadily. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
