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1. (WO2013054662) SERVO CONTROLLER

Pub. No.:    WO/2013/054662    International Application No.:    PCT/JP2012/074948
Publication Date: Apr 18, 2013 International Filing Date: Sep 27, 2012
IPC: H02P 29/00
G05D 3/12
Applicants: MITSUBISHI ELECTRIC CORPORATION
三菱電機株式会社
IKEDA, Hidetoshi
池田 英俊
SAITO, Akio
斎藤 暁生
IGARASHI, Yuji
五十嵐 裕司
Inventors: IKEDA, Hidetoshi
池田 英俊
SAITO, Akio
斎藤 暁生
IGARASHI, Yuji
五十嵐 裕司
Title: SERVO CONTROLLER
Abstract:
A reference modeling unit (3) calculates, for a position command (yc), a model position (ya) followed by the model of a control target (2), and a model torque (τa) for performing an operation in which the model of the control target (2) matches the model position (ya). During operation of the control target (2), a gain changer (7) changes a primary or/or a secondary control gain value used in a calculation of a variable compensation value (Dτ) outputted to an integrated compensator (5) by a variable compensation calculator (4), on the basis of at least one out of the model position (ya), a position detection value (ym), and a torque command (τr) outputted to the control target (2) by a torque adder (6); and causes the changed value to be reflected in the calculation of a variable compensation value (τr).