Abstract: A motor control apparatus includes a power converter, a speed controller, and a stop position controller. The power converter outputs a current to drive a motor based on a torque command. The speed controller generates the torque command based on an error between a speed command of the motor and a speed of the motor. The stop position controller calculates an acceleration command to output a predetermined torque after detection of a reference position per revolution of a position detector for a first time during speed control of the motor, generates a torque feed-forward command based on the acceleration command, generates a position command based on the acceleration command, and generates the speed command based on an error between the position command and the motor position to execute position control of the motor.

Abstract: A motor control apparatus includes a power converter, a speed controller, and a stop position controller. The power converter outputs a current to drive a motor based on a torque command. The speed controller generates the torque command based on an error between a speed command of the motor and a speed of the motor. The stop position controller calculates an acceleration command to output a predetermined torque after detection of a reference position per revolution of a position detector for a first time during speed control of the motor, generates a torque feed-forward command based on the acceleration command, generates a position command based on the acceleration command, and generates the speed command based on an error between the position command and the motor position to execute position control of the motor.

Abstract: An object of the invention is to provide a servo control device capable of making zero the positional deviation the positional deviation at a constant speed as well as the positional deviation at a constant acceleration or at constant acceleration and jerk, thereby providing a high-precision follow-up response. In order to solve this problem, the servo control device according to the invention includes a position controller (3) for generating a speed command that matches the motor output with a target position, a feed-forward controller (4) for adding a signal obtained by multiplying the differential of a target command by a gain and a signal obtained by multiplying the second-order differentiation of the target command by a gain and generating a speed feed-forward signal, and a speed controller (2) for performing I-P or PI control of the motor (1).

Abstract: A servo control apparatus improved in trackability without being accompanied by overshoots or any continuous vibration and capable of tracking without any delay from an upper order command is provided. A command signal is directly transmitted to a controller as a target command increment value. A compensation signal arithmetic unit receives the target command increment value, subtracts the target command increment value from a signal having passed through an inverse transfer function unit having an inverse transfer function characteristic of any low-pass filter, and sends a compensation signal generated by multiplying a result of that subtraction by an adjustment gain to a controlled object. The controller receives the target command increment value and an output increment value of the controlled object, and sends a control input to the controlled object so that the output of the target command becomes coincident with the target command.

Abstract: An object of the invention is to provide a servo control device capable of making zero the positional deviation the positional deviation at a constant speed as well as the positional deviation at a constant acceleration or at constant acceleration and jerk, thereby providing a high-precision follow-up response. In order to solve this problem, the servo control device according to the invention includes a position controller (3) for generating a speed command that matches the motor output with a target position, a feed-forward controller (4) for adding a signal obtained by multiplying the differential of a target command by a gain and a signal obtained by multiplying the second-order differentiation of the target command by a gain and generating a speed feed-forward signal, and a speed controller (2) for performing I-P or PI control of the motor (1).