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Servo motor control or regulating device, servo motor control or regulating method and servo motor control or regulating program
Servo motor control or regulating device, servo motor control or regulating method and servo motor control or regulating program
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机译：伺服电动机控制或调节装置，伺服电动机控制或调节方法以及伺服电动机控制或调节程序
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摘要
A servomotor control device comprising: a speed command generating part (30) for generating a speed command value for driving a servomotor (10); a speed detecting part (20) for detecting a speed of the servomotor; anda torque command generating part (40) for generating a torque command value for the servomotor using a difference between a speed command value generated by the speed command generating part and a speed detection value detected by the speed detecting part, the speed control loop including the speed detecting part and the torque command generating part a proportional gain generating part, wherein the torque command generating part (401) into which the difference is input, and an integral gain part (402) and an integrator (403) into which the difference is input, the calculation cycle for calculating a proportional term by the proportional gain part being shorter than a calculation cycle for calculating a Integral term through the integral gain part and the integrator, wherein an integral gain of the integral gain part is a value calculated by multiplying an initial value for the integral gain determined in advance for each motor model by a ratio of a total inertia of a machine relative to a rotor inertia of the servomotor and a value smaller than the square of a speed gain magnification corresponding to a delay time of the speed control and a proportional gain of the proportional gain part is a value calculated by adding a value corresponding to a difference in the calculation cycle between the integral term and the proportional term and the integral gain to a value calculated by multiplying one in advance for each motor model certain initial value for the proportional gain with a ratio of the total inertia of the machine relative to a rotor inertia of the servomotor and the speed gain increase.
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