An object is to provide a servo controller which constantly optimizes parameters according to the state of a machine. A servo controller for controlling an electric motor which drives the axis of an industrial machine includes: a state value derivation unit which derives, from an operation program and/or operation plan information of the industrial machine, the chronological or event-sequential data of the state value of the electric motor or a driven member that is operated with the electric motor; and a parameter change unit which changes at least one parameter of a velocity gain, a position gain, a feedforward gain, a filter frequency and an acceleration/deceleration time constant after interpolation based on the chronological or event-sequential data derived in the state value derivation unit either chronologically or event-sequentially.

An object is to provide a servo controller which constantly optimizes parameters according to the state of a machine. A servo controller for controlling an electric motor which drives the axis of an industrial machine includes: a state value derivation unit which derives, from an operation program and/or operation plan information of the industrial machine, the chronological or event-sequential data of the state value of the electric motor or a driven member that is operated with the electric motor; and a parameter change unit which changes at least one parameter of a velocity gain, a position gain, a feedforward gain, a filter frequency and an acceleration/deceleration time constant after interpolation based on the chronological or event-sequential data derived in the state value derivation unit either chronologically or event-sequentially.

A numerical controller is provided with a speed feedforward gain correction unit configured to obtain an associated axis, which is subject to a varying load applied to a particular axis according to a coordinate value, and a correction coefficient of the particular axis corresponding to the current coordinate value of the associated axis, based on a correction coefficient storage unit, and correct a speed feedforward gain for speed feedforward control of the particular axis, and a motor control unit configured to control the particular axis based on the corrected speed feedforward gain.

A numerical controller is provided with a speed feedforward gain correction unit configured to obtain an associated axis, which is subject to a varying load applied to a particular axis according to a coordinate value, and a correction coefficient of the particular axis corresponding to the current coordinate value of the associated axis, based on a correction coefficient storage unit, and correct a speed feedforward gain for speed feedforward control of the particular axis, and a motor control unit configured to control the particular axis based on the corrected speed feedforward gain.

An embodiment provides a control method for controlling a mechatronic system. The method comprises providing a model of the mechatronic system, the model comprising a disturbance compensation parameter and modifying the disturbance compensation parameter by: obtaining a servo-error of the mechatronic system, obtaining a setpoint of the mechatronic system and determining, based on the setpoint and the model of the mechatronic system comprising the disturbance compensation parameter, a predicted servo-error of the mechatronic system, such that the disturbance compensation parameter is based on a correlation between the servo-error and the predicted servo-error. The method further comprises updating a feedforward transfer function of the mechatronic system based on the modified disturbance compensation parameter and continuously determining a control signal to control the mechatronic system using the updated feedforward transfer function.