| 摘要 |
<P>PROBLEM TO BE SOLVED: To self-generate a velocity command for high-speed positioning suited for the target position of a motor, the coulomb frictional load torque, and the load by the change of moment of inertia. <P>SOLUTION: This device drives the motor so that its velocity may correspond to a velocity command, by comparing the positional deviation of the motor 8 with the first reference value and the second reference value smaller than this reference value, and generating a velocity command to direct the tolerable maximum velocity of the motor 8 when the positional deviation is not less than the first reference value, a velocity command to direct the velocity to be zero when the positional deviation is at or over the second reference value and besides is smaller than the first reference value, and a velocity command to direct the velocity corresponding to the positional deviation when the positional deviation is smaller than the second reference value. The first reference value is set, based on the actual velocity of the motor 8, the torque coefficient of the motor 8, the inertial moment of the motor 8, the inertial moment to serve as load, the current for torque of the motor 8 for outputting the maximum torque, and the coulomb frictional load to the motor 8. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
