Servo Control Apparatus

Abstract

The present invention provides a servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer (5) for adding a disturbance compensation torque Tf, calculated from a torque command T* and an electric motor rotational speed ωm, to a torque command basic signal T0*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωf by a PI control section (2), thus outputting the torque command T*; and a phase advance compensation observer (6) for generating, from the torque command basic signal T0* and the electric motor rotational speed ωm, an output of a nominal plant (61) serving as an element in which no delay occurs, thus outputting the output as the feedback speed ωf.

Dependencies are inferred from the claim text.