| 摘要 |
PURPOSE: To provide a method and a device for controlling motor drive which attenuate the vibration of an object to be driven swiftly, when it has elsticity. CONSTITUTION: Constitution is so made that a difference obtained by subtracting at the point of 23 a product obtained by multiplying T hat estimated at an observer 20 on the basis of the angle of rotation θm of a motor and a position command (u) by a vibration proofing gain Kx, from a current command being a product obtained by multiplying by a velocity gain Gv a difference obtained by subtracting at the point of 22 the rotational angular velocity θm dot of the motor from a product Gp (u-θm ) obtained by multiplying a difference obtained by subtracting the angle of rotation θm of the motor from the position command (u) at the point of 21 by a position gain Gp, may be given to the motor through a power converter. |
