Motor controller and industrial machine

4:

• The motor controller according to claim 1, wherein
• the machine end correction unit includes:
• a proportional compensation unit to output a machine end correction signal obtained by changing the amplitude of the proportional compensation signal in order for the signal to have a characteristic specified by a first gain;
• an integral compensation unit
• to perform a proportional operation and a second order integral operation on the proportional compensation signal by using a second gain and a second order integration unit and
• to then output a result of the operations;
• and
• a subtraction unit
• to subtract an output signal of the integral compensation unit from the motor position signal and
• to then output a position correction signal, and
• the error suppression compensation unit outputs an error suppression signal that drives the motor such that the difference between the position command signal and the position correction signal equals zero.

7:

• The motor controller according to claim 1, further comprising:
• a feedforward compensation unit to output a model position signal, a model velocity signal, and a model driving force signal by imparting a low-pass characteristic to the position command signal;
• and
• a vibration suppression compensation unit to output a position reference signal, a velocity reference signal, and a driving force reference signal
• by imparting a notch characteristic centered at an anti-resonant frequency of the stand to the model position signal and the model velocity signal that are output from the feedforward compensation unit, and
• by imparting a notch characteristic centered at a resonant frequency of the stand to the model driving force signal, wherein
• the error suppression compensation unit generates and outputs the error suppression signal from the position reference signal, the velocity reference signal, and the motor position signal, and
• the addition unit outputs, as a driving signal for the motor, a signal obtained by adding the error suppression signal, the machine end correction signal, and the driving force reference signal.

10:

• An industrial machine comprising:
• a motor;
• a stand to hold the motor;
• a working machine to be attached to a movable part of the motor;
• and
• the motor controller according to claim 1 to control the motor.