POSITION CONTROLLER

WIPO Patent Application WO/1998/040801

A1

A position controller which controls the position of a motor comprising a position control unit (12) which controls the position of the motor so that the position of the motor may agree with the position command of a command generator (11), a speed control unit (13) which outputs a torque command and controls the speed of the motor so that the speed of the motor may agree with the speed command of the position control unit (12) and a current control unit (14) which controls the current applied to the motor in accordance with the command of the speed control unit (13). The speed control unit (13) has a speed feedback filter (131) by which the speed is applied to a low-pass filter, a subtracter (132) which subtracts the signal of the speed feedback filter (131) from the speed command to obtain a speed deviation, an integrator (133) which integrates the speed deviation with respect to time to obtain an integrated speed deviation value, a multiplier (136) which multiplies the speed command by a coefficient $g(a), an adder/subtracter (135) which adds the signal of the multiplier to the integrated speed deviation value and, further, subtracts the speed from the sum, a multiplier (136) which multiplies the output of the adder/subtracter by a speed loop gain Kv and a torque filter (139) which applies the signal of the multiplier (136) to a low-pass filter.

TSURUTA KAZUHIRO (JP)

PCT/JP1997/003147

September 17, 1998

September 05, 1997

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YASKAWA DENKI SEISAKUSHO KK (JP)
TSURUTA KAZUHIRO (JP)

G05D3/12; G05B19/19; G05B19/23; (IPC1-7): G05D3/12

JPH0378802A	1991-04-04
JPH07164282A	1995-06-27
JPH04271412A	1992-09-28
JPH04213701A	1992-08-04
JPH0464898A	1992-02-28

See also references of EP 0967535A4

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