JP5528421B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device capable of positioning a controlled object at high speed and reliably.

  In a production machine such as a printed circuit board drilling machine, it is required to improve the production efficiency by shortening the drilling time of the printed circuit board as much as possible. The production efficiency of the printed circuit board drilling machine depends on the positioning speed of the printed circuit board. Therefore, in order to improve the production efficiency of the printed circuit board drilling machine, the printed circuit board must be positioned at high speed and reliably.

In general, if the production machine is an ideal rigid body and has no friction, theoretically, high-speed and reliable positioning using control theory is possible. However, unlike an ideal rigid body, an actual production machine has a part with low rigidity in part and friction exists in the controlled object.
Since the printed circuit board drilling machine is not an ideal rigid body but also has friction, when trying to drill the printed circuit board at high speed, the printed circuit board drilling machine itself vibrates and the settling time of positioning is theoretically determined by the presence of friction. Longer than the value.

  As a control method for realizing reliable positioning at a relatively high speed while suppressing the vibration of the production machine, there is a control method in which a notch filter is inserted in a position command input unit. In this control method, the vibration of the production machine is canceled by setting the vibration frequency of the production machine in the notch filter, but the positioning settling time becomes longer due to the delay of the notch filter.

  As another control method, there is a control method in which a model control system is applied to a model of a production machine, as disclosed in Patent Document 1 below. This control method cancels the vibration of the production machine by performing model following control on the model of the production machine, and realizes a reliable positioning without overshoot at a relatively high speed.

  In the control method of applying the model control system to the production machine model, specifically, as shown below, a state equation for the production machine model is established, and each characteristic equation of the state equation has a five-fold root. Set the parameters.

In the above formula, K _P is a position loop gain, K _V is a speed loop gain, K _PB is a machine base position feedback gain, K _AB is a machine base acceleration feedback gain, and K _VB is a machine base speed feedback gain. In the above formula, J denotes the sum of motor inertia J _M and the load inertia J _L in the production machine model. T represents the time constant of the model torque command low-pass filter.

In order to stabilize the position control system and the speed control system, K _V = 4J ₂ · K _P and 4 is used as the coefficient of J ₂ · K _P. When setting the control parameters of the elements constituting the model control system of the production machine based on the value of the K _V, secure positioning without overshoot at a relatively high speed can be realized.

Japanese Patent No. 4540727

  However, in the control method in which the above-described notch filter is inserted, the positioning settling time cannot be shortened to meet the requirements from the control delay caused by using the notch filter.

  In addition, although the control method using the model control system can perform positioning without causing overshoot and does not generate vibration, it cannot be shortened enough to meet the demand for further shortening of the positioning settling time.

  The present invention has been made to meet the demand for further shortening the positioning settling time, and an object of the present invention is to provide a motor control device capable of positioning a controlled object at high speed and with reliability.

In order to achieve the above object, a motor control device according to the present invention has a model control system that models the movement of a production machine and a feedback control system that actually controls the movement of the production machine. The feedback control system includes a position controller, a speed controller, a torque controller, and a torque command low pass filter .

The position controller calculates a speed command from the deviation between the model position of the production machine to be controlled output from the model control system and the position of the production machine to be controlled. The speed controller outputs a torque command from the deviation between the speed command obtained by differentiating the model position output from the model control system, the speed command calculated by the position controller, and the speed command obtained by differentiating the position of the motor that drives the controlled object. To do. The torque controller controls the torque of the motor by adding the model torque command output from the model control system for driving the controlled object of the production machine and the torque command output from the speed controller. The torque command low pass filter is provided between the speed controller and the torque controller, and removes quantization ripples and high frequency components included in the torque command.

The speed controller has an integral controller and a proportional controller. The speed controller outputs a torque command only with the proportional controller when the motor is moving the controlled object, and outputs a torque command with the integral controller and the proportional controller when the motor is not moving the controlled object.
The model control system includes a movable part model, a machine base model, a model position controller, a model speed controller, a model torque command low-pass filter, a main feedback unit, a first feedback unit, a second feedback unit, and a calculation unit.
The movable part model models the movement of the movable part of the production machine and outputs the model movable part position of the movable part. The machine base model models the movement of the machine base and outputs the model base position of the machine base. The model position controller models the position controller and outputs a model speed command. The model speed controller models the speed controller and outputs a model torque command. The model torque command low-pass filter models the torque command low-pass filter, and gives a filter processing model torque command obtained by low-pass filtering the model torque command to the movable part model and the machine base model. The main feedback unit feeds back model position information obtained by adding the model movable unit position and the model machine base position to the model position controller and the model speed controller as model positions to the feedback system. The first feedback unit outputs a first feedback including at least the model machine base position based on the model machine base position. The second feedback unit outputs a second feedback from the filter processing model torque command. The calculation unit obtains a deviation between the first feedback, the second feedback, and the model torque command, and outputs the deviation as a model torque command to the model torque command low-pass filter and the torque command low-pass filter.
The plurality of parameters included in the model control system are calculated so that the characteristic equation of the state equation of the model control system has multiple roots, the position loop gain in the model control system is K _P , the velocity loop gain is Kv, and inertia Is J and the second feedback gain is K _LP , J ₂ = J (1 + K _LP ), and Kv = 2.5 to 3.5J ₂ · K _P so that the feedback control system causes overshoot , A model position command to the feedback system is given to the position controller as a position command, and a model speed command to the feedback system created based on the model position command to the feedback system is added to the speed command input to the speed controller.

  According to the motor control device of the present invention, the object to be controlled can be positioned at high speed and reliably without vibration.

It is a schematic block diagram of the production machine used as the application object of the motor control apparatus which concerns on this embodiment. It is a block diagram of a control system of a motor control device concerning this embodiment.

  Below, the motor control apparatus which concerns on this embodiment is demonstrated. FIG. 1 is a schematic configuration diagram of a production machine to which a motor control device according to this embodiment is applied.

(Production machine configuration)
The production machine 100 includes a machine base 110, a motor 120, a ball screw 130, a table 140, and leveling bolts 150A and 150B.

  The machine base 110 is fixed to a hard floor 160 such as concrete by leveling bolts 150A and 150B. A motor 120 that drives the table 140 and a ball screw 130 that moves the table 140 are provided on the machine base 110.

  The motor 120, the ball screw 130 and the table 140 constitute a movable part 180. The motor 120 is fixed to the machine base 110 by a fixing tool 125. The ball screw 130 is fixed to the machine base 110 by supports 135A and 135B that rotatably support both ends. The rotating shaft of the motor 120 and the ball screw 130 are connected via a joint 170. The ball screw 130 rotates in the same rotation direction as the rotation shaft of the motor 120 and rotates at the same rotation speed. A screwing portion 145 protruding from a part of the table 140 is screwed with the ball screw 130. When the ball screw 130 rotates left and right, the table 140 reciprocates in the left-right direction in the figure.

  In order to perform processing at high speed, it is necessary to shorten the settling time for positioning the table 140. However, if the table 140 is moved at a high speed and positioned at a high speed, an inertial force is applied to the machine base 110 due to the inertia of the table 140 at the time of positioning, and the machine base 110 is shown in FIG. Vibrate. Further, since there is friction between the inner periphery of the screwing portion 145 of the table 140 and the outer periphery of the ball screw 130, the settling time of positioning becomes longer according to the magnitude of the friction.

  The motor control apparatus according to the present embodiment positions the table 140 to be controlled at high speed and reliably while suppressing vibration of the machine base 110. Next, the configuration and operation of the control system of the motor control device according to the present embodiment will be described.

(Control system configuration of motor control device)
The control system of the motor control apparatus according to the present embodiment allows slight overshoot for positioning control of the table 140 in a production machine on the assumption that the machine base 110 of FIG. 1 vibrates, while vibration due to overshoot. In addition, the friction between the table 140 and the ball screw 130 is taken into consideration so that the positioning can be performed at high speed and surely.

  FIG. 2 is a block diagram of a control system of the motor control device according to the present embodiment.

  The control system 200 of the motor control device has a model control system 300 and a feedback control system 400. In the model control system 300, control parameters for realizing ideal (high-speed and reliable) positioning of the table 140 are set. The feedback control system 400 actually controls the movement of the table 140 of the actual machine using the command of the model control system 300, and positions the table 140 at high speed and reliably.

  The control parameters of the feedback control system 400 are set according to the actual production machine, and the control parameters of the model control system 300 are set to the parameters set in the feedback control system 400.

[Overall configuration of control system of motor controller]
The model control system 300 includes a model position controller 310, a model speed controller 320, a model torque command low pass filter 330, a movable part model 340, and a machine base model 350. In addition, a first feedback unit 360, a second feedback unit 370, and a differentiator 380 that perform state feedback are included. In addition, arithmetic units SP315, SP325, SP335, SP345, and SP355 that form addition points are included.

  The feedback control system 400 includes a motor 120, a sensor 120S, a table 140, a sensor 140S, a position controller 410, a timing adjustment unit 415, a proportional controller 422, an integral controller 424, a torque command low-pass filter 430, a torque command notch filter 445, A torque controller 455 and a differentiator 480 are provided. The proportional controller 422 and the integral controller 424 constitute a speed controller 420. Moreover, it has calculating part SP415, SP425, SP435, and SP445 which comprise an addition point.

[Operation of each part of model control system]
The model position controller 310 is a model of the position controller 410 and outputs a model speed command. The gain of the model position controller 310 is the same as that of the position controller 410. The model speed controller 320 is a model of the speed controller 420 and outputs a model torque command. The gain of the model speed controller 320 is the same as that of the speed controller 420. Since the model control system does not consider disturbance, the model position controller 310 and the model speed controller 320 are composed of proportional controllers.

  The model torque command low-pass filter 330 is obtained by modeling the torque command low-pass filter 430 with a primary low-pass filter, and outputs a model torque command subjected to low-pass filter processing. The filter value of the model torque command low-pass filter 330 is the same as that of the torque command low-pass filter 430.

  The movable part model 340 is obtained by modeling the movement of the movable part 180 including the motor 120 and outputs the model movable part position. The model movable part position is the position of the table 140. Although the ball screw 130 exists between the motor 120 and the table 140, the movable part model 340 considers that the rigidity is very high. The machine base model 350 is obtained by modeling the movement of the machine base 110 and outputs the model machine base position. The model base position is the position of the base 110 that vibrates. A model position obtained by adding the model movable part position and the model machine base position is a relative position between the table 140 and the machine base 110. The parameters of the movable part model 340 and the machine base model 350 are the same as the parameters of the movable part 180 and the machine base 110 of the actual machine.

  The first feedback unit 360 outputs a first feedback including the model machine base position, the model machine base speed, and the model machine base acceleration. The second feedback unit 370 multiplies the model torque command after the low-pass filter processing and outputs a second feedback. A state feedback amount is obtained by adding the first feedback and the second feedback. Differentiator 380 differentiates the model position, which is the main feedback amount, and outputs a speed command.

  Arithmetic units SP315, SP325, SP335, SP345, and SP355 add or subtract commands that join the respective addition points. The gain of the state feedback amount is set based on the parameters of the movable unit 180 and the machine base 110 of the actual machine. The position gain and speed gain parameters of the model control system 300 may be set slightly larger than the values of the feedback control system 400 as long as a fixed relationship is maintained between the position gain and the speed gain.

  As described above, in the model control system 300, the model torque command output from the model torque command low-pass filter 330, the model machine base position output from the machine model 350, the model machine speed, and the model machine acceleration are used as state feedback amounts. give feedback. By feeding back the state, the table is positioned at a high speed while suppressing the vibration of the machine base 110.

[Operation of each part of feedback control system]
The sensor 140S detects the position of the table 140. The motor 120 drives the table 140 as shown in FIG. The sensor 120S detects the rotational position of the motor 120.

  The position controller 410 inputs a difference between the model position output from the model control system 300 and the position of the table 140 detected by the sensor 140S, and outputs a speed command.

  The timing adjustment unit 415 adjusts the timing at which the switch 426 is turned ON / OFF, and connects the integration controller 424 to the proportional controller 422 at the timing at which the motor 120 stops. The timing of the integration controller 424 insertion / exclusion switching by the timing adjustment unit 415 is finely adjusted based on the position deviation such as the position of the table 140 detected by the sensor 140S. The switching timing is a timing at which the positioning of the table 140 allows a slight overshoot, can be positioned at a high speed, and vibrations converge quickly. This timing is set to an optimal timing by repeating trial and error.

  The proportional controller 422 multiplies the speed command by a certain gain and outputs a torque command. The integration controller 424 outputs an integrated speed command. The speed controller 420 outputs a torque command only by the proportional controller 422 when the motor 120 is rotating (proportional control), and the torque command generated by the integral controller 424 and the proportional controller 422 when the motor 120 stops. Is output (proportional integral control). The gain of the speed controller 420 is set to as large a value as possible without causing high-frequency resonance.

  The torque command low-pass filter 430 removes quantization ripples (generated when an encoder is used for the sensors 120S and 140S) and high frequency components included in the positions detected by the sensors 110S and 120S. The torque command low-pass filter 430 sets a filter so that noise with a frequency as high as possible can be removed. The torque command notch filter 445 outputs a torque command from which a resonance frequency component such as the ball screw 130 is removed, and suppresses resonance of the ball screw 130 and the like. The torque command notch filter 445 designs a filter at a resonance frequency of the ball screw 130 or the like. The torque controller 455 controls the torque of the motor 120 based on the torque command from which noise has been removed by the torque command low-pass filter 430 and the torque command notch filter 445. Note that the torque command low-pass filter 430 and the torque command notch filter 445 may be arranged in the order of the torque command notch filter 445 and the torque command low-pass filter 430, unlike FIG.

  Differentiator 480 differentiates the rotational position of motor 120 detected by sensor 120 and outputs a speed. Arithmetic units SP415, SP425, SP435, and SP445 add or subtract commands that join the respective addition points.

  Note that the position loop gain of the feedback control system 400 is set to 1/3 of the speed gain so as to allow a slight overshoot and not vibrate at high speed.

(Operation of motor control device control system)
The control system of the motor control device according to the present embodiment is configured as described above. Next, the overall operation of the control system of the motor control device according to the present embodiment will be described with reference to the production machine 100 shown in FIG.

The calculation unit SP315 of the model control system 300 calculates a position deviation between the position command and the model position of the production machine 100 (the position of the table 140). The model position controller 310 multiplies the position deviation by KP and outputs a model speed command. The calculation unit SP325 calculates a speed deviation between the model speed command and the speed calculated by differentiating the model position by the differentiator 380. Model speed control unit 320 multiplies the speed deviation by KVP and outputs a model torque command. The calculation unit SP335 subtracts the model torque command and the state feedback amount.

The state feedback input by the calculation unit SP335 is calculated as follows. The first feedback unit 360 outputs the result obtained by multiplying the model machine base position output from the machine base model 350 by K _PB + K _VB S + K _AB S ² as the first feedback. The second feedback unit 370 multiplies the model torque command after the low-pass filter processing output from the model torque command low-pass filter 330 by K _LP and outputs it as a second feedback. The calculation unit SP355 adds the first feedback and the second feedback. The state feedback amount added by the calculation unit SP355 is the state feedback.

  The torque deviation output from the calculation unit SP335 becomes a model torque command by removing high-frequency component noise by the model torque command low-pass filter 330. The movable part model 340 outputs the model movable part position indicating the position of the table 140 from the model torque command after the low-pass filter processing. At the same time, the machine base model 350 outputs the model machine base position indicating the position of the machine base 110 from the model torque command after the low-pass filter processing. The calculation unit SP345 adds the model movable part position and the model machine base position and outputs the model position.

  On the other hand, the calculation unit SP415 of the feedback control system 400 calculates a position deviation between the model position obtained by the model control system 300 and the current position of the machine base 110 detected by the sensor 110S. The position controller 410 outputs a speed command from the position deviation. The calculation unit SP425 includes a speed command calculated by differentiating the model position by the differentiator 380 of the model control system 300, a speed command output by the position controller 410, and the motor 120 detected by the sensor 120 by the differentiator 480. These speed deviations are calculated by adding and subtracting the speed calculated by differentiating the rotational position. The speed controller 420 outputs a torque command from the speed deviation.

  In the speed controller 420, the switch 426 is turned off by the timing adjustment unit 415 when the motor 120 is rotating. For this reason, the calculation unit 435 gives the speed command output from the position controller 410 to the proportional controller 422 as it is when the motor 120 is rotating. The proportional controller 422 outputs a torque command based on the speed command. On the other hand, when the motor 120 stops, the switch 426 is turned on at the timing set by the timing control unit 415. Therefore, the calculation unit 435 adds the speed command output from the position controller 410 and the speed command calculated by the integration controller 424. The proportional controller 422 outputs a torque command based on the added speed command.

  The calculation unit SP445 adds the torque command output from the calculation unit SP335 of the model control system 300 and the torque command output from the proportional controller 422. From the added torque command, the torque command low-pass filter 430 removes quantization ripples and high frequency components, and the torque command notch filter 445 removes resonance frequency components. The torque controller 455 controls the torque of the motor 120 based on the torque command from which noise has been removed.

  The operation of the control system of the motor control device according to the present embodiment is as described above. In the present embodiment, a unique value is adopted as a control parameter in order to realize high-speed positioning of the table 140. The state equation of the model control system 300 according to the present embodiment is as follows.

Each parameter is set so that the characteristic equation of the state equation has a five-fold root.
In the present embodiment, in order to make the position control system and the speed control system slightly overshoot and to speed up the positioning of the table 140, Kv = 3J ₂ · K _P and 3 as the coefficient of J ₂ · K _P. Use. However, if the inertia is J and the second feedback gain is K _LP , J ₂ = J (1 + K _LP ) from the above equation , and Kv = 3J ₂ · K _P

  It becomes. Each numerical value described above is set as a control parameter in each element constituting the model control system 300. By setting these control parameters, a slight overshoot is allowed for the positioning of the table 140, but vibration due to the overshoot does not occur and a high-speed positioning can be performed. Furthermore, the positioning of the table 140 can be realized accurately and reliably even if there is friction between the table 140 and the ball screw 130.

In the state equation, K _V = 3J ₂ · K _P and the reason why 3 is used as the coefficient of J ₂ · K _P is as follows.

  In general, in the control of a production machine, the positioning of a controlled object is usually performed quickly without overshooting. Therefore, it is very difficult to shorten the positioning settling time in the control of the conventional production machine.

  Recently, however, further improvement in production efficiency has been strongly demanded. In particular, in the printed circuit board drilling machine, in order to further shorten the drilling time, there is a demand for shortening the positioning settling time even if the overshoot of the positioning control is allowed.

In the control of the conventional production machine, since it is not assumed that overshooting occurs, K _V = 4J ₂ · K _P and 4 as the coefficient of J ₂ · K _P are used in the state equation of the model control system. As in this embodiment, in the equation of state, K _V = 3J ₂ · K _P and a coefficient other than 4 is rarely used as the coefficient of J ₂ · K _P.

In this embodiment, since it is assumed that overshooting is performed, 3 is used instead of 4 as the coefficient of J ₂ · K _P. In the present embodiment, 3 is used as the coefficient of J ₂ · K _P , but a coefficient smaller than 4 may be used according to an allowable overshoot amount. For example, an appropriate value between 2.5 and 3.5 can be used. Setting the coefficient to a small value increases the amount of overshoot, and setting the coefficient to a large value decreases the amount of overshoot.

  Further, in the present embodiment, in order to quickly converge the overshoot and remove the influence of friction, the configuration of the speed controller 420 is devised as shown in FIG.

  The speed controller 420 is composed of a proportional integral controller, but the integral controller 424 can be inserted or removed according to the operation of the motor 120. The integration controller 424 is inserted or excluded in accordance with the operation of the motor 120 for the following reason.

  Friction always occurs when the controlled object of the production machine is driven. For this reason, a proportional-integral controller is used as the speed controller of the conventional feedback system. However, when the speed controller of the feedback system is configured by a proportional integral controller, a slight value that compensates for friction during the rotation of the motor 120 remains in the speed integrator, and the positioning settling time is extended. Further, if the speed controller of the feedback system is configured by a proportional integral controller, the vibration cannot be quickly converged by the speed integrator when overshoot is allowed.

  Therefore, while the motor 120 is rotating, the integral controller 424 is excluded and the speed controller 420 is a proportional controller. As a result, while the motor 120 is rotating, the value of the integral term included in the speed command becomes 0 and is not affected by allowing the overshoot. Further, while the motor 120 is rotating, the speed command for friction compensation does not accumulate in the integral term, and the positioning settling time does not increase.

  Further, in the control of conventional production machines, a semi-closed system using a motor encoder is usually adopted. However, in the semi-closed system, the rotational position of the motor is controlled and not controlled by the position of the table 140 and the rotational position of the motor 120 as in this embodiment. A position error due to friction such as 130 occurs. For this reason, it is difficult to achieve highly accurate positioning of the table 140 in the semi-closed system. Therefore, in the present embodiment, a full-close system that feeds back the rotational position of the motor 120 and the position of the table 140 is used.

As described above, in the control device for a production machine according to the present embodiment, the model control system 300 is configured to feed back the model machine position, speed, acceleration, and the model torque command after low-pass filter processing. Then, applying modern control theory, the simultaneous equations are solved so that the roots of the characteristic equations of the model control system 300 are multiple roots, and the control parameters of each element constituting the model control system 300 are set. However, the relationship between the model position gain and the model speed gain is set so that positioning can be performed at high speed and reliably while allowing a slight overshoot. The feedback control system 400 is a full-closed feedback control system so that it can follow the model control system 300 that can be positioned at high speed and reliably without vibration. The speed controller 420 of the feedback control system 400 is constituted by a proportional integral controller so that the integral term is valid only when the motor 120 is stopped.

  The gains set in the model position controller 310 and the model speed controller 320 may be the same as the gains set in the position controller 410 and the speed controller 420, respectively. It may be slightly higher than the gain set in each of the speed controllers 420.

  With the above configuration, positioning can be performed at high speed and with high accuracy without providing a sensor for detecting vibration of the machine base 110 and without vibrating the table 140.

100 production machines,
110 units,
120 motor 120S sensor 130 ball screw,
140 tables,
140S sensor 150A, 150B leveling bolt,
160 floors,
180 moving parts,
200 Control system of motor control device,
300 model control system,
310 model position controller,
320 model speed controller,
330 Model torque command low pass filter,
340 movable part model,
350 machine model 360 first feedback section,
370 Second feedback section;
380 differentiator,
SP315-SP355 arithmetic unit,
400 feedback control system,
410 position controller,
420 speed controller,
422 proportional controller,
424 integral controller,
430 Torque command low pass filter,
445 Torque command notch filter,
455 torque controller,
SP415-SP445 computing unit.

Claims (7)

A model control system that models the movement of production machines;
A feedback control system that actually controls the movement of the production machine,
The feedback control system is
A position controller that calculates a speed command from a deviation between a model position of the control target of the production machine output from the model control system and a position of the control target of the production machine;
A speed at which a torque command is output from a deviation between a speed command obtained by differentiating the model position output from the model control system, a speed command calculated by the position controller, and a speed command obtained by differentiating the position of a motor that drives the controlled object. A controller;
A torque controller that controls a torque of the motor by adding a model torque command output from the model control system to drive a controlled object of the production machine and a torque command output from the speed controller; Have
Between the speed controller and the torque controller, a torque command low-pass filter that removes quantization ripples and high frequency components included in the torque command is provided,
The speed controller includes an integral controller and a proportional controller. When the motor is moving the control target, the speed controller outputs a torque command only by the proportional controller, and the motor stops the control target. Output torque command with the integral controller and proportional controller,
The model control system is
A movable part model that models the movement of the movable part of the production machine and outputs a model movable part position of the movable part;
A machine model that models the movement of the machine and outputs the model machine position of the machine, and
A model position controller that models the position controller and outputs a model speed command; and
A model speed controller that models the speed controller and outputs a model torque command;
A model torque command low-pass filter that models the torque command low-pass filter, and gives a filter processing model torque command obtained by low-pass filtering the model torque command to the movable part model and the machine base model;
A main feedback unit that feeds back the model position information obtained by adding the model movable part position and the model machine base position to the model position controller and the model speed controller, respectively, as a model position to a feedback system;
A first feedback unit that outputs a first feedback including at least the model machine base position based on the model machine base position;
A second feedback unit that outputs a second feedback from the filter processing model torque command;
A calculation unit that obtains a deviation between the first feedback, the second feedback, and the model torque command, and outputs the deviation to the model torque command low-pass filter and the torque command low-pass filter as a model torque command;
A plurality of parameters included in the model control system are calculated as the characteristic equation of state equations of the model control system have a repeated root, and the position loop gain in the model control system and Kv a K _P, speed loop gain If the inertia is J and the second feedback gain is K _LP , J ₂ = J (1 + K _LP ), and Kv = 2.5 to 3.5J ₂ · K _P so that the feedback control system causes overshoot. And
A model position command to the feedback system is given to the position controller as the position command, and a model speed command to the feedback system created based on the model position command to the feedback system is input to the speed controller. A motor control device that adds to a speed command.   The motor control apparatus according to claim 1, wherein the feedback control system further includes a timing adjustment unit that controls timing of connecting an integral controller included in the speed controller to the proportional controller.   The feedback control system is a full-closed feedback system that feeds back a position of the motor to the speed controller while feeding back the position of the control target to the position controller. The motor control device described in 1. Between the speed controller and the torque controller of the feedback control system,
The motor control device according to claim 1, further comprising a torque command notch filter that removes a resonance frequency component of the production machine.   The said 1st feedback part includes the model base speed and the model base acceleration of the base in addition to the model base position in the first feedback. The motor control device described in 1.   The gains set in the model position controller and the model speed controller are the same as the gains set in the position controller and the speed controller, respectively, and are set in the first feedback unit. The feedback gain of 1 and the second feedback gain set in the second feedback unit are determined so as to suppress vibrations of the machine base. A motor control device according to claim 1.   The gains set for the model position controller and the model speed controller are slightly higher than the gains set for the position controller and the speed controller, respectively, and are set in the first feedback unit. The first feedback gain and the second feedback gain set in the second feedback section are determined so as to suppress vibration of the machine base. The motor control apparatus in any one of.