| 摘要 |
PROBLEM TO BE SOLVED: To realize movement control in the shortest time and high accuracy by reducing a calculation burden in the generation of a command profile related to servo control and also drawing out the driving performance of a servo system to the fullest extent. SOLUTION: A servo controller generates a command profile corresponding to the movement of an operating point with an arithmetic operation with respect to a control object whose movement is regulated by the operating point on a characteristic diagram having an acceleration axis and a speed axis and transmits the command profile as a control command to the control object. A characteristic line related to the control object includes a line segment having a linear function, and a command value generating means 2 is provided for generating a command file by giving the inclination of the line segment and an acceleration input in accordance with the moving quantity of the control object. In the command value generating means 2, two integral elements 9 and 10 are cascaded, and a feedback loop is also formed with respect to an acceleration input 'dU' by adding an output through a multiplication element 11 after going through the integral element 9 on the first stage to the acceleration input.
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