POSITION CONTROLLER FOR MOTOR

摘要

PURPOSE: To make a feedforward effect and a disturbance suppressing effect compatible. CONSTITUTION: A position control part 1a inputs a rotating-position command Pc and a position feedback Pf of a motor 3 and outputs a rotating speed command Vc. A speed control part 2 inputs the command Vc and controls the rotating speed of the motor 3. A position-loop computing part 17 and a feedforward-gain computing part 18 compute a position loop gain Kpa and a feedforward gain Kfa so as to satisfy the time constant Tfa=(1-Kfa)/Kpa of a primary filter 15a in correspondence with a position deviation ΔP. Then, the rotating speed command Vc is outputted from the position control part 1a by adding the outputs of a multiplier 12a and the primary filter 15a.