Mechanical vibration detector and vibration damping controller

摘要

PCT No. PCT/JP96/02289 Sec. 371 Date Feb. 18, 1998 Sec. 102(e) Date Feb. 18, 1998 PCT Filed Aug. 13, 1996 PCT Pub. No. WO97/07590 PCT Pub. Date Feb. 27, 1997Provided is a mechanical-vibration detecting apparatus in which not only adjustment is easy but also mechanical vibration can be taken out with high accuracy, and a vibration-reduction control apparatus by which reduction of mechanical vibration can be achieved. In a motor control apparatus for controlling the torque of a motor, provided are an equivalent rigid body model 103; a proportional operation means 104; a high-pass filter 105; and means for adding a torque signal and an output of the proportional operation means to supply a resulting addition signal to the equivalent rigid body model, and for subtracting an output of the equivalent rigid body model from a velocity signal of the motor control apparatus to supply a resulting difference signal to the proportional operation means and to the high-pass filter so that an output of the high-pass filter is used as a mechanical vibration control signal.