| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for preventing residual vibration in a servo system, which permits residual vibration to be reduced while driving a motor with a prescribed loop gain. SOLUTION: The first observer 7 infers status of a motor 4 and load 6 from output of a torque controller 3 and output of an encoder 5. The second observer 9 infers status of the motor 4 and load 6 from the control deviation. The outputs of the observer 7 and the observer 9 are multiplied together, and the result is negatively fed back to the torque controller 3.
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