| 摘要 |
A positioning servo controller is provided in which optimization of the positioning state can be conducted simply by adjusting an adjustment gain. In a positioning servo controller with: a speed feedforward controlling section (22) which sets a value that is obtained by adding a first feedforward compensation amount to a position deviation, as a speed command; an acceleration feedforward section (23) which sets a value that is obtained by adding a second feedforward compensation amount to a speed deviation, as an acceleration command, the second feedforward compensation amount being obtained by amplifying a differential value of the first feedforward compensation amount; and a torque amplifier (3) in which an acceleration deviation is used as a torque command, and which drives a controlled object on the basis of the torque command, the values of the first feedforward gain and the second feedforward gain are values of functions in which the value of the adjustment gain is used as an argument.
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