Patent ID: 7224141
Filing Date: 2007-05-29
Classification: G05B,H02P

Abstract:
1. A motor position controller comprising: a position detection unit for detecting a position of a motor to be controlled; a speed calculation unit for calculating a speed of the motor; a position control unit for performing a position control by outputting a speed command so that the motor position fed back from the position detection unit is consistent with a position indicated by a position command; a speed control unit for performing a speed control based on a proportional-integral control by outputting a torque command so that the speed fed back from the speed calculation unit is consistent with the speed indicated by the speed command; and a torque control unit for performing a torque control based on the torque command; wherein the speed control unit comprises: an addition means for adding an output of the integral control system and an output of the proportional control system; and a multiplication means for multiplying an output of the addition means by a speed proportional gain to produce the torque command.