| 摘要 |
<p>A mechanical vibration detector which can pick up mechanical vibration with a high level of accuracy and can be easily adjusted, and a vibration damping controller capable of accomplishing damping of mechanical vibration. A motor controller for controlling torque of a motor includes an equivalent rigid body model (103), proportional computation means (104), a high-pass filter (105), and means for adding a torque signal and the output of the porportional computation means, inputting the sum of addition to the equivalent rigid body model, inputting a difference signal obtained by subtracting the output of the equivalent rigid body model from a speed signal of the motor controller to the proprotional computation means and to the high-pass filter, and using the output of the high-pass filter as a mechanical vibration signal.</p> |
