Patent ID: 7030581
Filing Date: 2006-04-18
Classification: H02P

Abstract:
1. A motor controller for driving, by torque from a motor responding to a computed torque command, an object to be controlled, the object being provided with the motor and a mechanical load, the motor controller comprising: a feedback computation unit into which is inputted a positional command signal or a speed command signal, and a motor rotational signal which is a detected value of the motor's rotational angle or speed, the feedback computation unit being for computing said torque command by a computation in which the transfer function for a feedback loop from said motor rotational signal to said torque command includes a pole or a zero point; a response parameter input unit for inputting a response parameter; and a ratio parameter input unit for inputting a ratio parameter; wherein a loop gain which is the gain of said feedback loop is determined based on said response parameter, and based on said response parameter and said ratio parameter, the pole or the zero point of said feedback loop is determined in such a way that the ratio of a response frequency which is quotient of said loop gain divided by an inertia value of the controlled object, to a frequency corresponding to the pole or the zero point of said feedback loop, is the value determined by said ratio parameter.