SERVO MOTOR CONTROL APPARATUS, SERVO MOTOR CONTROL METHOD, AND SERVO MOTOR CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a servo motor control apparatus which can control a position of a driven body with high accuracy.SOLUTION: A servo motor control apparatus has a servo motor, a driven body driven by the servo motor, a connection mechanism for connecting the servo motor and the driven body, and for transmitting a force of the servo motor to the driven body, a position command generating unit for generating a position command value for the driven body, a motor controlling unit for controlling the servo motor using the position command value, a force estimation unit for estimating an estimation value for a force which is a driving force operating on the driven force at its connection part with the connection mechanism, and a correction amount generating unit for generating a correction amount used for correcting the position command value generated by the position command generating unit with using a product of the force estimation value and a coefficient indicating a physical constant. The coefficient indicating the physical constant is changed depending on magnitude of the force estimation value or the generated correction amount.SELECTED DRAWING: Figure 5