| 摘要 |
A machine tool moves a driven member by use of a servomotor. A position control device controls the position of the driven member in accordance with full closed loop control. The position control device computes an integrated feedback value g in correspondence with a function F (VM, PM, Vm, Pm) in which four state amounts, motor speed VM, motor position PM, driven member speed Vm, and driven member position Pm are independent variables. The thrust instruction tau*, which is inputted to the servomotor, is compensated with the integrated feedback value g. The servomotor is thus optimally driven and controlled in accordance with full closed loop control.
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