| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor control unit equipped with the function which suppresses overshoot by the influence of the machine characteristic. SOLUTION: This unit is equipped with a position control unit 1, a speed feed-forward part 2, a speed control unit 3, a torque feed-forward part 4, a torque filter 5, a current control unit 6, a motor position detecting circuit, and a motor-speed signal generater 8. This unit adjusts torque feed-forward gain on a large scale when the value which deducts the torque feed-forward signal from the second torque order is positive, and adjusts torque feed-forward gain on a small scale when the value is not positive.
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