Patent ID: 8928267
Filing Date: 2015-01-06
Classification: G05B,H02P

Abstract:
1. A motor controller for controlling a motor that drives a driving object to press the driving object against a pressure object at a pressure corresponding to a reference torque, the motor controller comprising: a velocity controller that calculates a torque command to the motor and a regression torque for compensating for the torque command based on a detected velocity value of the motor; and a regression torque controller that calculates a first velocity command corresponding to a deviation between the reference torque and the regression torque calculated by the velocity controller, wherein the regression torque controller limits the calculated first velocity command up to a desired velocity limit value that is defined based on a contact velocity between the driving object and the pressure object, and outputs the first velocity command, and the velocity controller calculates the torque command so that the detected velocity value follows the first velocity command output from the regression torque controller.