JP2008079478A5 - - Google Patents

Claims (4)

In a servo control device that includes a PI control unit that calculates a torque command basic signal based on a speed command, and that controls driving of an electric motor and a load machine,
A disturbance observer that outputs disturbance compensation torque based on the motor speed;
A phase compensator that outputs a feedback speed based on the torque command basic signal,
By comparing the case inertia in the load machine and if inertia of the load machine is high is small, the servo control device comprising a benzalkonium substantially to match the response of the motor speed. The disturbance observer includes a nominal plant inverse system and a first low-pass filter, and the nominal plant inertia is set to be equal to or less than a minimum value of an actual plant inertia including the rotor of the motor and the load machine. The servo control device according to claim 1, wherein 2. The disturbance observer according to claim 1, wherein when the inertia of the actual plant is minimized, a time constant of the first low-pass filter is set to a small value so that a noise removal characteristic is satisfied. The servo control device described. The phase compensator has a nominal plant and a second low-pass filter, and the time constant T2 of the second low-pass filter is set to a ratio between the maximum value of the actual plant inertia and the nominal plant inertia, and 2. The servo control device according to claim 1, wherein a value obtained by multiplying the time constant of one low-pass filter is obtained.