PURPOSE: To provide a controller for a servomotor, which uses a speed feed- forward, which can suppress to the utmost the influence of a positional deviation caused by a time lag in a system on and after a servodriver, and which consequently can bring a speed command signal to the servodriver close to a target, speed command signal as far as possible.
CONSTITUTION: A target, position command signal Sp is inputted into a computing part output a speed command value Sv1, or a portion for a speed forward. At the same time the signal Sp is inputted into a delay part 6. With regard to a target, position command signal Sp', which is delayed by a time L in the delay part 6, a positional deviation between Sp' and a position feedback signal P is obtained in a computing part 7, so that a speed correcting command signal Sv2 is outputted from a computing part 8. Finally, a speed command signal Sv, which is obtained by adding this speed correcting command signal Sv2 and the speed feed-forward signal Sv1, is outputted to a servodriver 10.
IZUME TAKATOMO
YUMITA KOICHI
JAPAN TOBACCO INC