| 摘要 |
<p>A feedforward control unit capable of smoothly and stably operating a servomotor. A first feedforward control quantity obtained by differentiating a position instruction (a) at a first feedforward term (44) is added to a control output of a position control loop (30) which varies depending upon the position deviation (ε). The result is a speed instruction (Vc) which compensates for the delay in response of the position control loop to the position instruction to decrease the control error. Further, a second feedforward control quantity obtained by differentiating the first feedforward control quantity at a second feedforward term (46) is added to a control output of a speed control loop (32) that varies depending upon the speed deviation. The result is a current instruction (Ic) which compensates for the delay in response of the speed control loop to the speed instruction to improve stability in the control and to prevent shocks to the servomotor and the machine system.</p> |
