Patent ID: 9471055
Filing Date: 2016-10-18
CPC Classification: G05B

Claim Text:
1. A servo control device which comprises a position control unit and a speed control unit and which controls the position and speed of a motor to control a front end point of a machine of a machine tool, the control device comprising: a position detecting unit configured to detect a position of a driven member which is driven by the motor or the motor; a first position error calculating unit configured to calculate a first position error on the basis of a position command to a motor and position feedback from said position detecting unit; a torsion estimating unit configured to estimate an amount of torsion of the front end point of the machine; a second position error calculating unit configured to add said first position error and estimated amount of torsion to calculate a second position error; a coefficient adapting unit configured to determine a coefficient of feedforward control so as to minimize said second position error; and a higher order feedforward control unit configured to perform the feedforward control by using said determined coefficient and the position command to the motor.