| 摘要 |
A virtual internal model (21) is constituted by modeling, after the detection of the moving/reversing of a feed shaft, a control loop and by using a constant having a value different from a constant value used in a control loop, a virtual torque instruction (22) computed in the virtual internal model (21) is added to a torque instruction (16) for driving a feed shaft, the adding is terminated when the virtual torque instruction (22) reaches a preset value, and, when the adding is terminated, a value (25) of an integrator in the virtual internal model at that time is added to the integrator (14) corresponding in position and velocity feedback loop.
|
