A motor controller includes: a command unit which outputs a command value for controlling a motor that drives a driven unit; a motor control unit which controls the motor based on the command value; a compensation filter which compensates for the command value; and a preprocessing unit which is provided in a stage preceding the compensation filter, the compensation filter has a frequency region in which a gain is greater than 1 and the preprocessing unit executes, when a variation in the command value before being compensated for with the compensation filter is equal to or less than a predetermined value, preprocessing in which a past command value is used as a current command value.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

a speed reducer angular transmission error identification system including a variation data acquisition unit that acquires first variation data indicating a periodic variation of an operation of a second joint caused by a first motor's angular transmission error when a first joint control unit rotates a first motor's output shaft in a first direction at a constant first target speed and a second joint drive unit rotates an output shaft of a second motor at a constant second target speed, second variation which is data indicating a periodic variation of an operation of second joint caused by the first motor's angular transmission error when the first joint control unit rotates the first motor's output shaft in a second direction at the constant first target speed and the second joint control unit rotates the second motor's output shaft at the constant second target speed.

The feedback control device takes information regarding a control deviation between a measured value and a target value of a controlled object as input, and outputs a control amount for the controlled object; comprising: a first control unit that takes information regarding the control deviation as input, and outputs a first control amount for the controlled object; a second control unit that takes information regarding the control deviation as input and outputs a second control amount for the controlled object, and in which a parameter for calculating the second control amount is determined by machine learning; an operation unit that operates the controlled object using the first control amount output from the first control unit and the second control amount output from the second control unit; and a sampling unit for thinning out at a predetermined period information regarding the control deviation input to the second control unit.

The feedback control device takes information regarding a control deviation between a measured value and a target value of a controlled object as input, and outputs a control amount for the controlled object; comprising:

a first control unit that takes information regarding the control deviation as input, and outputs a first control amount for the controlled object; a second control unit that takes information regarding the control deviation as input and outputs a second control amount for the controlled object, and in which a parameter for calculating the second control amount is determined by machine learning;

an operation unit that operates the controlled object using the first control amount output from the first control unit and the second control amount output from the second control unit; and a sampling unit for thinning out at a predetermined period information regarding the control deviation input to the second control unit.

An apparatus for controlling resonance suppression of a machine tool according to the present disclosure includes: a numerical control part; a main operation part; a PLC configured to execute a control command by means of communication with the numerical control part or the main operation part; a servo drive configured to execute the control command of the PLC; a servo motor part configured to operate under control of the servo drive; and a power conversion part electrically connected to the servo motor part and the servo drive and configured to apply electrical energy to the servo motor part, wherein the power conversion part controls resonance suppression in accordance with an operation of the servo motor part by adjusting electrical energy to be applied to the servo motor part based on a signal from the servo drive.

A motor controller includes: a command unit which outputs a command value for controlling a motor that drives a driven unit; a motor control unit which controls the motor based on the command value; a compensation filter which compensates for the command value; and a preprocessing unit which is provided in a stage preceding the compensation filter, the compensation filter has a frequency region in which a gain is greater than 1 and the preprocessing unit executes, when a variation in the command value before being compensated for with the compensation filter is equal to or less than a predetermined value, preprocessing in which a past command value is used as a current command value.

A motor control device includes: a position command section configured to generate a position command for a control object; a position detecting section configured to detect a position of the control object or a position of a motor configured to drive the control object; and a position control section configured to control a position of the motor based on the position command and the detected position of the control object or the motor, in which at least one of the position command section and the position control section includes a vibration suppression filter configured to approximate a reverse characteristic of a vibration characteristic generated between the motor and the control object, and the vibration suppression filter changes a vibration suppression frequency according to at least one of the position and a mass of the control object.

The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.