| 摘要 |
PURPOSE:To control a motor efficiently by calculating a current phase compensation amount from a rotary speed detected based on a relation between the rotary speed of the motor and the current phase compensation amount then correcting a current command value. CONSTITUTION:A current compensation amount determining means M5 estimates phase delay of actual current from a current command value based on the rotary speed of a servo motor M1 detected through a state detecting means M. A current command value correcting means M6 previously advances the phase of the current command value calculated through a current command value calculating means M3 by a current phase compensation amount calculated through the current compensation amount determining means M5 and outputs the current command value having the advanced phase. Consequently, a servo motor drive means M4 performs feedback control of the servo motor M1 with a current command value previously subjected to phase load compensation. By such an arrangement, phase shift between the current flowing through the servo motor M1 and the current command value is eliminated regardless of the rotary speed of the servo motor M1, resulting in efficient control of the servo motor M1. |
