| 摘要 |
A position controller has a command generator for generating position instructions, a position control unit for controlling a position by inputting a position instruction and the position of a motor being an object to be controlled, and outputting a speed instruction so that they become coincident with each other, a speed control unit for controlling a speed by inputting a speed instruction and a speed of the motor and outputting a torque instruction so that the speed instruction and speed become coincident with each other. A current control unit is provided for controlling a current on the basis of the torque instruction, wherein the speed control unit is provided with a speed feedback filter which obtains a new speed of a motor by filtering the speed through a low-pass filter, a subtracter which obtains a speed deviation by subtracting the new speed from the speed instruction, an integrator which obtains an integral figure of the speed deviation by time-integrating the speed deviation by a time constant Ti, and a multiplier which multiplies the speed instruction by alpha(0.0<=alpha<=1.0). An adder and subtracter adds a signal of the multiplier to the integrated figure of the speed deviation and subtracts the speed therefrom, a multiplier calculates a torque instruction by multiplying the output of the adder and subtracter by a speed loop gain kv, and a torque filter makes a torque instruction into a new torque instruction by filtering it through a low-pass filter.
|
