Command generation device and command generation method

A command generation device comprising:

• a command receiving unit that receives a high-level command value related to motion of a motor from a host device;
• and
• an internal target generation unit that generates an internal target value of the motor,
• including a position target value and a rotational speed target value, based on the high-level command value,
• the internal target generation unit including:
• a feedforward calculator that generates a reference value of the internal target value using a predetermined model based on the high-level command value;
• a feedback calculator that generates a correction value for correcting the reference value based on a difference between the high-level command value and the internal target value;
• and
• an adder that generates the internal target value corrected by adding the correction value to the reference value,
• the internal target generation unit generating the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.

A command generation method comprising the steps of:

• receiving a high-level command value related to motion of a motor from a host device;
• and
• generating an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value,
• wherein in the step of generating the internal target value,
• a feedback calculation for generating the internal target value corrected is performed based on a difference between the high-level command value and the internal target value, and
• the internal target value corrected is generated in a cycle shorter than a cycle of receiving the high-level command value.