Full-closed control apparatus

摘要

A full-closed control apparatus for performing velocity control based on a velocity signal of a motor and performing position control based on a position signal of a load driven by the motor, including: an equivalent rigid system velocity loop model; a band-pass filter; an amplitude adjuster; and a unit for inputting a velocity instruction of a velocity control loop into the equivalent rigid system velocity loop model, inputting a difference signal obtained by subtracting an output of the equivalent rigid system velocity loop model from a velocity signal of the load into the band-pass filter, inputting an output of the band-pass filter into the amplitude adjuster and outputting a signal obtained by adding an output of the amplitude adjuster to an output of a position controller, as a new velocity instruction.