Machine learning device, servo control device, servo control system, and machine learning method for suppressing variation in position error using feedforward control

摘要

A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.