| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a servo controlling apparatus that allows a load in a vibration system mechanism to follow a command speedily, and at the same time can be operated without any vibration, by calculating a state quantity that cannot be detected by an ideal actual machine according to the command and by creating a load position signal by simulation. <P>SOLUTION: The servo controlling apparatus has state-quantity calculation equipment 6 that calculates the state quantity that cannot be detected by the actual machine based on a position command, load position signal calculation equipment 7 that inputs the position of a motor 3 and a state-quantity calculation value and outputs a load position signal, an estimation controller 1 that outputs a speed command with the position command and the load position signal as input, and a speed controller 2 that calculates a torque command for driving the motor 3 based on the speed command and the speed of the motor 3 detected by a detector 4. <P>COPYRIGHT: (C)2003,JPO |
