| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor control apparatus which does not cause an error between a real positional signal and a simulated positional signal even when a control sample period of a feedforward calculation is different from that of a feedback calculation. SOLUTION: A host controller 8 has a simulation model 8c for simulating signal transmission characteristics of the motor controller. The controller 8 processes to calculate a real position command signal θref given from a host system according to the simulation model, calculates a speed and a position of the motor corresponding to the signal θref, outputs the speed and the position as a first simulation speed signal ωF and a first simulated position signal θF at each second control sample period t2, generates a primary joint of θref-θref and the ωF with a constant decided by a parameter for characterizing the model as a coefficient, and outputs the joint as a feedforward torque signal TFF at each second control sample period t2. |
