| 摘要 |
A motor control device comprises: a current limiter 115 for limiting a current-instruction signal Ir for a motor 18 and for turning a limiting signal L from off to on when the current-instruction signal Ir reaches a predetermined value; a model-position-generating part 220 having a model of an equivalent position-control system that includes characteristics of the motor control device 100 and a control target object, and calculating rotational position of the motor 18 as a model-position signal thetam by inputting to the model a position-instruction signal thetar; a correctional acceleration-generating part 240 for generating a correctional acceleration signal alphase based on a correctional position deviation thetase when the limiting signal L turns on; and a position-instruction-generating part 260 for generating the position-instruction signal thetar based on an acceleration deviation alphar that is equal to the difference between the original-acceleration-instruction signal Va and the correctional acceleration signal alphase. |
