SERVO MOTOR CONTROL DEVICE, SERVO MOTOR CONTROL METHOD, AND PROGRAM FOR SERVO MOTOR CONTROL

摘要

PROBLEM TO BE SOLVED: To improve responsiveness even in a case where a delay time exists in a speed control loop.SOLUTION: A servo motor control part comprises: a speed command creation part which creates a speed command value for driving a servo motor; a speed detection part which detects a speed of the servo motor; and a torque command creation part which creates a torque command value using a difference between the speed command value and a speed detection value. The torque command creation part includes a proportional gain, an integration gain and an integrator. A calculation cycle of a proportional term is shorter than a calculation cycle of an integration term. The integration gain results from multiplying an initial value by a ratio of a total inertia of a machine relative to a rotor inertia of the servo motor and a value that is smaller than a square of a speed gain magnification in accordance with a delay time of a speed control loop. The proportional gain results from adding a value corresponding to a difference between the calculation cycles of the integration term and the proportional term and the integration gain to a result of multiplying the initial value by the ratio of the total inertia of the machine relative to the rotor inertia of the servo motor and the speed gain magnification.SELECTED DRAWING: Figure 2