Patent ID: 8436565
Filing Date: 2013-05-07
Classification: G05B

Abstract:
1. A motor controller having two motors for driving one driven body, a position detector for detecting a position of the driven body, and a velocity detector for detecting a velocity of the driven body or the motor, the motor controller comprising: a control system, for each of the two motors, that includes a means for making an output value of the integral element of the velocity control unit in the control system for one of the two motors identical to an output value of the integral element of the velocity control unit in the control system for another of the two motors; and a compensation unit that adds a preload torque value to each of the torque command values output from the velocity control units in the control systems for the two motors in order to suppress backlash between the two motors, wherein the compensation unit has a time constant circuit, allowing the preload torque value to be added to gradually increase based on a prescribed time constant.