To express an estimated velocity by only a command response component for a velocity command and compensate a vibration easily, by a method wherein a vibration suppression control signal is added to a velocity command and a motor velocity is deducted and a velocity deviation is inputted and the velocity is so controlled as to have the motor velocity agree with the velocity command by outputting a command.
If it is assumed that a disturbance is sufficiently compensated by the integrator of a velocity controller 22, a motor velocity is composed of a command response component and a vibration component only. If an estimated velocity Vfb' which is calculated and estimated by an estimation device 24 is accurate, a velocity estimation error Ve' which is a difference between the velocity signal Vfb of the motor and the estimated velocity Vfb' is composed of only the vibration component which is influenced by the fluctuation of a mechanism, etc. If the velocity estimation error Ve' is multiplied by a vibration suppression gain α and added to a velocity command Vref, the vibration component can be eliminated. With this constitution, a parameter to be regulated is the vibration suppression gain α only, so that the very simple and practical vibration suppression control can be realized.
OKUBO HITOSHI
KAKO YASUHIKO
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