| 摘要 |
PROBLEM TO BE SOLVED: To obtain a motor controller for automatically regulating a control system to attain high response to an operation command value within a range causing no burden on a mechanical system in which suppression of vibration and high speed suppression of disturbance are performed while ensuring stability when a motor driven mechanical system has resonance characteristics. SOLUTION: The motor controller comprises a section 28a for estimating the total inertia and antiresonance frequency of a mechanical system and the frequency response of a control object. The total speed feedback gain is automatically regulated to the smaller one of an estimated maximum gain where the stability is sustained or a value slightly smaller than the product of estimated total inertia and antiresonance frequency. Furthermore, the parameter for regulating the target response speed of a feedforward circuit 12b controlling the target response well is regulated automatically to the product of an antiresonance frequency and a preset constant. |
