SERVO AMPLIFIER

PROBLEM TO BE SOLVED: To suppress vibration which is easy to occur when gain is switched.SOLUTION: In gain switching of a servo amplifier, at the time of gain switching, two gains to be switched in accordance with a control state are weighted to gradually perform gain switching. According to the control state of a motor, a gain switching section is provided, and a gain value in this section is calculated from values of two gains to be switched and the control state of the motor to perform gain switching. As a result, the gain value in the gain switching section becomes a transient value of two gains to be switched in accordance with the control state of the motor, and the gain switching suppressed in vibration becomes possible since the variation of gain to be switched instantly is reduced. 【課題】ゲインを切替時に発生しやすい振動を抑制すること。【解決手段】本発明のサーボアンプのゲイン切替は、ゲイン切替時、制御状態に応じて切り替える２つのゲインに重みを付けて緩やかにゲイン切替を行うものであり、モータの制御状態に応じてゲイン切替区間を設け、この間のゲインの値は切り替る２つのゲインの値と、モータの制御状態から算出しゲイン切替を行っている。これによって、ゲイン切替区間におけるゲインの値はモータの制御状態に応じて切替る２つのゲインの過渡的な値となり、瞬時に切り替るゲインの変化量が少なくなるため振動を抑えたゲイン切り替えが可能となる。【選択図】図２