Motor Control Device

A motor control device for receiving a speed command from an upper layer system control device having a position controller, the motor control device comprising:

• a position command estimator that calculates an estimate of a position command based on the speed command and a motor axis position response;
• a parallel type damping controller that extracts a frequency component for exciting oscillation of an end section of a machine connected to a motor included in the speed command based on the estimate, and outputs the extracted frequency component;
• and
• an adder/subtractor that subtracts an output of the parallel type damping controller from the speed command,
• wherein an output of the adder/subtractor is set as an actual speed command and used as a command of a speed controller.

A motor control device for receiving a speed command from an upper layer system control device having a position controller, the motor control device comprising:

• a position command estimator that calculates an estimate of a position command based on the speed command and a motor axis position response from a motor;
• a parallel type damping controller that extracts a frequency component for exciting oscillation of an end section of a machine included in the speed command based on an estimate of the position command, and outputs a signal obtained by processing the extracted frequency component using a predetermined filter;
• and
• an adder, wherein:
• the motor axis position response and an output of the parallel type damping controller are added by the adder;
• and
• an output signal of the adder is used as an actual motor axis position response, and the actual motor axis position response is output to the position controller.