| 摘要 |
PURPOSE:To obtain always the transient response in an optimum position, by storing the voltage, which is proportional to the motor speed just before switching to the position control mode, in the integrator at the time of switching from the speed control mode to the position control mode. CONSTITUTION:A means is provided which stores the voltage, which is proportional to the speed of motor 43 just before switching to the position control mode, in integrator 47, which makes the integral signal of the current flowed to motor 43 into a damping signal, at the switching time from the speed control mode to the position control mode. For example, in the speed control mode, the control is performed on a basis of the output of reference speed signal generator 40 by switching of switches 41 and 46, and electric charge proportional to the final speed of the reference speed is stored in capacitor 56 of integrator 47. At arrival at the position a fixed distance before the target position, the control system is switched to the position control mode, and integrator 47 uses the said electric charge as the initial value to integrate the input current of motor 43 and feeds back the damping signal to servo amplifier 42. |
