| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that conventional positioning control by a machine has a positioning time owing to the induction of the natural vibration of a machine system, overshooting, or the generation of low-frequency vibration due to base plate where a machine system is mounted. SOLUTION: A position controller, using a closed loop method, which detects the positions of mechanically movably parts (motor 4 and load machine 5) by a position detector provided for the mechanically movable parts 4 and 5 and which performs differential operation 6 based upon the detected positions to computer a speed is provided with a means (speed-zero state observer 7 and device 8 observing a speed of 0 and 1st undershooting) which successively give position command signals divided into two stages in the beginning and halfway in control. The position controller is further equipped with a means which sets the position command of the 1st stage smaller than an original target command, sets the suppression gain when the position command of the 1st stage is given high, and causes overshooting as to the position command of the 1st stage and a means which gives the position command signal of the 2nd stage by lowering the gain at the smallest point of a movement quantity after the overshooting.
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