| 摘要 |
PROBLEM TO BE SOLVED: To suppress fine vibration at stop time and to increase positioning precision at the stop time by correcting position deviation as a predetermined constant and performing position control. SOLUTION: A position deviation decision unit 122 inputs a position command Pref(i) and position deviation Pe(i) and outputs signals α (α>1) and β (β<0) when absolute values are all less than N pulses and an increment value dPref(i) is zero, and signals α=1 and β=0 when not. An adder 123 adds the position deviation Pe(i) and signal β together, and a coefficient multiplier 124 which receives the resulting signal multiplies by a coefficient Kp and outputs a speed command Vref(i). When the position deviation Pe(i) is within ±1 pulse and stops, it stops at one of three pulses having pulse width of ±1 pulse, 0 pulse, and -1 pulse. Consequently, the performance of the position controller is improved to increase the practicability. |
