| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor control device that is capable of simultaneously adjusting, theoretically with one parameter, a parameter of a vibration controller and a parameter of an I-P controller, in a dual inertia velocity control system. SOLUTION: In the motor control device that is provided with a velocity controller 11 that inputs a velocity command, constructs integration-proportion control (I-P control) so that the motor velocity comes in conformity with the velocity command, and determines a torque command, with an electric current controller 12 that inputs the torque command and drives a motor, with detectors that detect motor electric current and motor velocity respectively, with a motor 14 and with a mechanical load 15; a means is provided to compute a torsional angle velocity from a motor velocity and a mechanical load velocity and performs vibration restraining by the use of the torsional angle velocity, as well as a means that is capable of simultaneously adjusting a parameter of the velocity controller 11 and a parameter of a vibration controller 13. |
