| 摘要 |
PROBLEM TO BE SOLVED: To minimize the mechanical damage at collision of an actuator such as a control shaft, etc., by equipping this controller with an avoidance action directive part which changes the target position of the rotational position of a motor or a machine shifting position when disturbance gets over a specified value for a period not shorten than a specified time. SOLUTION: This controller is equipped with an avoidance operation detective part 9 which changes the target position of the rotational position of a motor or the shifting position of a machine 1 when the disturbance being one of the quantity of state estimated by a disturbance observer 8 gets over a specified time for a period not shorten than a specified time. In case that the velocity of a motor 2 is low or the change of the position is small and a large current flows instantaneously, it does not perform danger avoidance action without judging that disturbance has occurred, and when the disturbance gets over the specified value for the period not shorten than the specified time, this performs danger avoidance action by changing the target position of the rotational position of the motor 2 or the shifting position of the machine 1. Hereby, the damage of the machine 1 at collision can be minimized. |
