Motor control apparatus, motor control method and motor control program

#The present application is based upon and claims the benefit of priority to Japanese Patent Application No. 2015-111930, filed Jun. 2, 2015, the entire contents of which are incorporated herein by reference.

#Field of the Invention

#The present invention relates to a motor control apparatus, a motor control method and a motor control program.

#A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:

#FIG. 1 is a block diagram illustrating a system structure of a servo amplifier that corresponds to a motor control apparatus of an embodiment;

#FIG. 2 illustrates an example of a specific structure of a pressure control system that is applied to the servo amplifier;

#The embodiments will now be described with reference to the accompanying drawings, wherein like reference numerals designate corresponding or identical elements throughout the various drawings.

#Schematic Structure of Servo Amplifier

#First, a schematic structure of a servo amplifier that corresponds to a motor control apparatus according to an embodiment of the present invention is described using FIG. 1. A servo amplifier 1 illustrated in FIG. 1 performs position control and pressure control in the same control block structure. That is, the servo amplifier 1 controls a rotation position of a motor (in this example, a rotary type motor; see FIG. 2 to be described later) and an output position of a movable part of a control machine that drives the motor, based on a high-level position command (PosRef) that is input from a high-level control device 2 (see FIG. 2 to be described later). On the other hand, the servo amplifier 1 controls an output pressure (in this example, a pressing force; see FIG. 2 to be described later) of the movable part, based on a pressure command (Tref) that is input from the same high-level control device 2. Illustration and description of the control block in the following are all presented in a transfer function form. In FIG. 1, the servo amplifier 1 of the present embodiment includes a position controller 11, a speed controller 12 and a pressure controller 13.