Digital servo system

A digital servo system comprising:

• a position detecting means for detecting an actual position of an object;
• a position deviation detecting means for detecting and for outputting a deviation of the actual position of the object from a predetermined position by a command;
• a velocity command generating means for outputting a velocity command to move the object according to the output of the position deviation detecting means;
• a velocity detecting means for detecting an actual velocity of the object;
• a velocity deviation detecting means for detecting and for outputting a deviation of the actual velocity of the object from the velocity command;
• a torque command generating means for outputting a torque command to drive a motor according to the output of the velocity deviation detecting means wherein the torque command increases according to a non-zero output of the velocity deviation detecting means up to a predetermined saturation value, and the torque command decreases swiftly down to zero at the time that the output of the velocity deviation detecting means becomes zero;
• and
• a motor driving means for moving the object according to the torque command.