| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a positioning controller capable of shortening positioning time. <P>SOLUTION: A speed command output from a position control unit 11 is obtained as a signal which is the total of each speed command output from a speed command generator 1, a speed command generator 2, and a speed command generator 3. A speed control unit 12 comprises a torque command generator 1 which makes a torque command, by adding a signal obtained by multiplying the speed command by proportional gain α to a signal obtained by time-integrating a speed deviation with a time constant Ti and subtracting a motor speed; a torque command generator 2 which makes a torque command as a signal obtained by multiplying a time differentiation value of the speed deviation by a speed damping gain Ka; and a torque command generator 3. A torque command output from the speed control unit is obtained as a signal which is the total of each torque command output from the torque command generator 1, the torque command generator 2, and the torque command generator 3. <P>COPYRIGHT: (C)2004,JPO |
