| 摘要 |
PURPOSE: A synchronous controller is provided for driving a subsidiary shaft motor synchronously with a main shaft motor. CONSTITUTION: A synchronous control appratus comprises a command generating device(1), a main shaft device(2), and a subsidiary shaft device(3). The command generating device(1) includes a memory(7) for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means(7') for outputting the main shaft position command increment DELTA rs(i) inputted before (M-1) times of samplings in the values stored in the memory(7), a memory(8) for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator(9) for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter(10) for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.
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