MACHINE CONTROL SYSTEM, MACHINE CONTROLLER, AND DAMPING COMMAND PRODUCTION METHOD

To upgrade mutual vibration-damping features of plural drive shaft control systems.SOLUTION: A machine control system includes a driving machine 4 having plural movable elements (movable pieces 32A and 32B) which are independently driven by plural linear motors 3A and 3B respectively, a first servo amplifier 2A and second servo amplifier 2B that independently drive or control a first motor 3A and second motor 3B respectively, and a controller 1 that produces a first control command with which the first motor 3A is driven or controlled, and a second control command with which the second motor 3B is driven or controlled, and outputs the control commands to the first servo amplifier 2A and second servo amplifier 2B respectively. The second servo amplifier 2B adds a vibration-damping command, which is contained in the second control command, as a thrust feedforward command to a thrust command for normal control with which the second motor 3B is driven or controlled. The controller 1 produces the second control command by adding the thrust feedforward command, which is based on a jerk contained in the first control command, as a vibration-damping command to a normal control command with which the second motor 3B is driven or controlled.SELECTED DRAWING: Figure 1 【課題】複数の駆動軸制御系の間における相互的な制振機能を向上する。【解決手段】複数のリニアモータ３Ａ，３Ｂでそれぞれ個別に駆動される複数の可動要素（可動子３２Ａ，３２Ｂ）を備えた駆動機械４と、第１モータ３Ａ、第２モータ３Ｂをそれぞれ個別に駆動制御する第１サーボアンプ２Ａ、第２サーボアンプ２Ｂと、第１モータ３Ａを駆動制御するための第１制御指令および第２モータ３Ｂを駆動制御するための第２制御指令を生成して第１サーボアンプ２Ａ、第２サーボアンプ２Ｂへ出力するコントローラ１と、を有し、第２サーボアンプ２Ｂは、第２制御指令における制振指令を、第２モータ３Ｂを駆動制御する通常制御の推力指令に推力フィードフォワード指令として加算し、コントローラ１は、第２モータ３Ｂを駆動制御する通常制御指令に、第１制御指令における加加速度に基づく推力フィードフォワード指令を制振指令として付加した第２制御指令を生成する。【選択図】図１