Patent ID: 9170571
Filing Date: 2015-10-27
Classification: G05B

Abstract:
1. A position controller configured to control a position of a control target by providing a command to a drive motor of a control target system in accordance with a position command value from a higher-level controller, the position controller comprising: a friction compensation calculation unit configured to calculate, based on a speed command value, a friction compensation reference value that is a reference value of a friction compensation value compensating a positional deviation due to a frictional force; a sliding torque normalization calculation unit configured to calculate a sliding torque at a pre-defined normalized speed under a current state based on the speed command value, a torque command value, and characteristic information indicating a relationship between a speed and a sliding torque stored in advance; a compensation value amplifying ratio calculation unit configured to calculate a compensation value amplifying ratio that is an amplifying ratio of the friction compensation reference value based on a sliding torque at a normalized speed under the current state and a sliding torque at the normalized speed in an initial state; and a multiplier configured to multiply the compensation value amplifying ratio by the friction compensation reference value to output the friction compensation value which compensates the positional deviation due to the frictional force.