JP4401720B2 - Motor control system - Google Patents

Description

  The present invention relates to a motor control system used in a transport vehicle or the like.

An application example of a conventional motor control system is a conveyance system. 2. Description of the Related Art In recent years, a conveyance system has been widely used for the purpose of conveying parts, documents, and the like between a plurality of points in a flow of automation in a factory. The drive control apparatus in such a conveyance system is controlled by an inverter unit using a motor in order to drive the conveyance vehicle. In order for the transport vehicle to move in response to the transport request and stop at the target position, sensors are arranged at various locations on the transport path.
For example, as described in Patent Document 1 below, the transport system includes a transport vehicle that transports a transported object, a plurality of stations that load and unload the transported object transported by the transport vehicle, and a plurality of stations. In the transfer system having a transfer path that is laid between the stations, and that the transfer vehicle travels, and a transfer control unit that performs the transfer control of the transfer vehicle and the transfer control of the transfer vehicle with respect to the transfer request from the station, the transfer control unit includes: A host control unit that generates a command related to traveling of the traveling vehicle for each preset control zone, and a receiving unit that is provided for each control zone and receives a signal transmitted from the transport vehicle. A lower control unit that controls the traveling of the transport vehicle in the self-control zone based on the command of the control unit, and an interface unit that transmits and receives commands between the upper control unit and the lower control unit. , The guided vehicle and a transmission means for transmitting a detection means for detecting the position and speed of the vehicle, a signal detected by the detection means to the lower control section of the transport controller.

According to such a transport system, the position and speed of the transport vehicle can be detected by the transport vehicle itself, and the position and speed of the transport vehicle are set for each control zone set in advance along the transport path on which the transport vehicle travels. When there is no need to provide a sensor for detection and there is a transport vehicle in the control zone, the transport vehicle can be controlled.
JP-A-8-47111

However, the motor control system configured as described above has a problem that it is difficult to control the transport vehicle when the transport vehicle exists in the non-control zone, that is, when the transport vehicle is outside the detection of the linear scale. .
Furthermore, it is a kind of open loop control that detects position information from the linear position detector and drives the inverter via the controller based on the position / speed information from the position / speed calculator to operate the motor. There is a problem that the followability to the command is difficult to improve.

  The present invention has been made in order to solve the above-described problems, and can detect the position of the moving body based on the rotational position of the motor, and can follow the command well, even outside the detection of the moving body itself. It is an object to provide a control system.

A motor control system according to a first aspect of the invention includes a motor that drives a moving body that moves along a predetermined path, and a first position that detects a rotational position of the motor and generates a first position detection signal. Detecting means; second position detecting means for generating a second position detection signal by detecting the position of the moving body in the predetermined range of the path; and the first position detection signal. And a first speed detector for generating a speed detection signal of the motor based on the first speed deviation signal, and a first speed deviation signal which is a difference between the first speed command signal and the speed detection signal. First speed control means for generating a current command signal, and a second speed command signal for driving the motor based on a position deviation signal that is a difference between the position command signal and the second position detection signal. Position control means and the second speed Second speed control means for generating a current command signal for driving the motor based on a second speed deviation signal which is a difference between the degree command signal and the speed detection signal; and the first or second position detection Based on the signal, the first speed command signal is changed to the second speed command signal based on the switching signal generated when the moving body reaches the first position which is the end of the second position detecting means. And a first switching means for switching from the first speed control means to the second speed control means.

  A motor control system according to a second aspect of the invention is synchronized with a second speed detection means for generating a motor speed detection signal based on a second position detection signal, and the first switching means, and And a second switching means for switching from one speed detecting means to the second speed detecting means.

  According to a third aspect of the present invention, there is provided a motor control system according to the first aspect of the present invention, based on a switching preparation signal that is generated when the moving body reaches a second position away from the first position. And a control means for switching the first switching means after a low speed command signal lower than the speed command signal is generated for a predetermined time.

A motor control system according to a fourth aspect of the invention includes a motor that drives a moving body that moves along a predetermined path, and a first position that detects a rotational position of the motor and generates a first position detection signal. Detecting means; second position detecting means for generating a second position detection signal by detecting the position of the moving body in the predetermined range of the path; and the first position detection signal. And a second speed command signal for driving the motor based on a position deviation signal which is a difference between the position command signal and the second position detection signal. The position control means for generating the first speed command signal and the frequency component higher than the cutoff frequency among the frequency components of the first speed command signal are removed, and the filtration speed command signal is generated through a frequency lower than the cutoff frequency. Phi A first speed control means for generating a current command signal for driving the motor based on a speed deviation signal that is a difference between the second speed command signal and the speed detection signal, and the filtration speed command. A second speed control means for generating a current command signal for driving the motor based on a speed deviation signal that is a difference between the signal and the speed detection signal, and based on the first or second position detection signal , The filtration speed command signal is switched to the second speed command signal based on a switching signal generated when the moving body reaches the first position, which is an end of the second position detection means, and the second speed command signal And switching means for switching from the speed control means to the first speed control means.

  The filter means in the motor control system according to the fifth aspect of the invention is characterized in that it generates a filtration speed command signal in which the first speed command signal is delayed by the first order.

As described above, according to the first or second invention, the position of the moving body is detected from the rotational position of the motor based on the first position detecting means even when the moving body is not detected by the second position detecting means. While driving the motor while controlling the speed by the first speed control means, the position deviation signal is input based on the switching signal generated before the stop position of the moving body, and the motor is driven by the second speed command signal. Drive with position control.
Therefore, since the motor is driven by speed control until the first position, that is, the moving body is before the stop position, the first switching means is improved when the moving body reaches the stop position while improving the response. Since the position of the motor is controlled by switching, the moving body can be accurately stopped at the target position.

  According to the third aspect of the invention, since the first switching means is switched after the motor is driven by the low speed command signal based on the switching preparation signal, it is possible to reduce the switching shock from the speed control to the position control of the motor. There is.

According to the fourth invention, the second speed control means detects the position of the moving body from the rotational position of the motor based on the first position detecting means even when the moving body is not detected by the second position detecting means. Is driven while controlling the speed of the motor, the switching means is switched based on the switching signal generated before the stop position of the moving body, the position deviation signal is input to the position control means, and the motor is driven by the second speed command signal. Drive with position control. Therefore, since the motor is driven by speed control until the first position, that is, the moving body is just before the stop position, when the moving body reaches before the stop position while improving the response, the motor is switched by the switching means. Since the position is controlled, the moving body can be accurately stopped at the target position.
In addition, the frequency component higher than the cutoff frequency is removed from the frequency components of the first speed command signal, and the motor is speed-controlled based on the filtered speed command signal that has passed through the low frequency. Even if the motor is switched from speed control to position control while decelerating the motor based on the switching means, the difference between the filtration speed command signal and the second speed command signal is reduced. There is an effect that can be done.

  According to the fifth aspect of the invention, there is an effect that the filter means can be configured simply.

Embodiment 1
An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall configuration diagram of a transfer system showing an embodiment, FIG. 2 is an overall block diagram showing a command / control system of the transfer system, and FIG. 3 is a block diagram centering on a servo control device.
In FIG. 1, a transport system 1 includes a transport path 3 as a path having rails, a transport vehicle 5 as a plurality of moving bodies that operate on a predetermined transport path 3, and a transport object to the transport vehicle 5. The loading / unloading station 7 for loading and unloading, the forward end station 9 where the transport vehicle 5 starts moving forward, the reverse side station 11 where the transport vehicle 5 arrives, and the stop position of the station 7 of the transport vehicle 5 And a linear linear scale 13 provided on the forward side from the forward end station 9 and on the front side of the backward side station 11.
The transport vehicle 5 is provided with a base 5a and four tires 5t at the bottom of the base 5a. The tire 5t is provided so as to operate in conjunction with the shaft of the motor 117. 3 is configured to move on top of 3.

In FIG. 2, the control system of the transport vehicle 5 generates and transmits a position command signal θr, a first speed command signal Vr1, and the like to the motor 117 in order to give a target position of the transport vehicle 5 and an operation start / stop command. The host controller 20 includes a controller unit 22 that generates and transmits a position command signal θr and a speed command signal Vr1 to the motor 117, and a position command signal θr and a speed command from the controller unit 22. And an interface 24 for transmitting the signal Vr1 to the transport vehicle 5.
In the transport vehicle 5, the interface 30 that receives a command from the host controller 20, the servo control device 100 that controls the motor 117 linked to the tire 5 t, the position within one rotation of the motor 117, and the motor 117 An absolute value encoder 119 having a multi-rotation position count that counts every rotation and a linear position detector 19 that receives a position detection signal from the linear scale 13 are provided. Note that the absolute value encoder 119 and the linear position detector 19 can hold the position detection signal by backup of a battery or the like even when the power is cut off.

  Here, not only the absolute value encoder 119 but also the linear position detector 19 is provided. Since the tire 5a of the transport vehicle 5 can slip, the integrated value of the rotation detection signal rotated by the motor 117 and the transport vehicle 5 This is because the distance actually traveled differs. Furthermore, since the outer radius from the shaft of the tire 5t varies depending on the air pressure of the tire 5t, the integrated value of the rotation detection signal and the distance actually traveled by the transport vehicle 5 differ depending on the change in the outer shape of the tire 5t.

  The servo control device includes a subtractor 105 serving as a first subtraction unit that obtains a position deviation signal θe that is a difference between the position command signal θr transmitted from the host controller 20 and the second position detection signal θs2, and a position deviation signal. θe is input to generate a second speed command signal Vr2, and a position control circuit 107 as position control means having a position gain Kp as a first gain, and speed command signals Vr1 and Vr2 are input a A change-over switch 109 as a first changeover means having a terminal and a b-terminal and switching between moving body speed control and position control when the transport vehicle 5 reaches the first position before the target stop position. And an absolute position meter that calculates the first position detection signal θs1 as an absolute position by calculating from the position within one rotation of the motor 117 and the multi-rotation count value and the one-rotation position and multi-turn count value of the origin An arithmetic unit 121, a speed detection circuit 123 as a first speed detection means that differentiates the position detection signal θs1 into a speed detection signal Vs, and a speed command signal Vr1 or speed command connected to the c terminal of the changeover switch 109 A subtractor 112 as a second subtraction means for obtaining a speed deviation signal Ve which is a difference between the signal Vr2 and the speed detection signal Vs, a speed gain Kv as a second gain, and a current command signal Ir are generated. It comprises a speed control circuit 113 as first and second speed control means, and a current control circuit 115 for passing a current based on the current command signal Ir to the motor 117.

The operation of the transport system configured as described above will be described with reference to FIGS. FIG. 4 is a flowchart showing the operation of the transport system.
First, when a transport command is generated from the host controller 20 (step S60), the controller unit 22 of the host controller 20 confirms the position of the transport vehicle 7 (step S61). The linear position detector 19 reads the position of the linear scale 13, determines whether or not the position of the transport vehicle can be confirmed from the linear position detector 19 (step S62), and the current position of the transport vehicle is on the linear scale 13. If not, the approximate current position in the conveyance path 3 is detected by reading the counter within one rotation and the multi-rotation counter from the absolute value encoder 119 (step S63). Here, the first position detection signal θs1 and the first position detection signal θs1 through the absolute position calculator 121 are obtained from the position within one rotation of the absolute value encoder 119 and the multi-turn counter value while moving the transport vehicle from end to end of the transport path 3 in advance. The second position detection signal θs2 from the linear position detector 19 is scanned to grasp the relationship between each linear scale 13 and the absolute value encoder 119. Further, assuming that the tire 5t of the transport vehicle 5 slips, the scanning and correction of this position information is performed even during the normal transport operation.

Since the host controller 20 knows the direction of the target position, it generates the first speed command signal θs1 and supplies it to the terminal a via the interface 30, and also pushes the changeover switch 109 to the a side to subtract the subtractor 112. The subtractor 112 inputs a speed deviation signal, which is a difference between the position detection signal θs 1 and the speed detection signal obtained via the speed detection circuit 123, to the speed control circuit 113, and the motor 117 is driven by the current control circuit 115. Is driven (step S64).
In step S64, semi-closed control of the speed control system is performed by feedback control using the speed detection signal via the position detection signal θs1 of the absolute value encoder 119.
The host controller 20 determines whether or not the value of the position detection signal θs1 has reached a predetermined value as to whether or not the transport vehicle 5 has reached the second position in the direction away from the target stop position from the first position. Whether or not (step S65). This determination may be made in the vicinity by the fact that the transport vehicle 5 has passed the scale 13 immediately before the linear scale 13 at the target stop position based on the position detection signal θs2 of the linear position detector 19.

In step S65, when the transport vehicle 5 reaches the second position in the direction away from the first position to the stop target position, the host controller 20 generates a switching preparation signal and decreases the rotation speed of the motor 117. The motor 117 is driven based on the low speed command signal lower than the first speed command signal Vr2 (step S66). In order to switch the motor 117 from speed control to position control, that is, to switch the changeover switch 109 from the a terminal to the b terminal, a linear scale provided before the target stop position where the transport vehicle 5 is the first position. It is determined whether or not the vehicle has entered the end portion 13 (step S67). When the transport vehicle 5 enters, the host controller 20 generates a switching signal and turns on the switch 109 from the a side to the b side to switch the motor 119 from speed control to position control (step S69).
The subtractor 105 obtains a position deviation signal that is a difference between the position command signal θr from the host controller 20 and the position detection signal θs2 from the linear position detector 19 and inputs the position deviation signal to the position control circuit 107. The command signal Vr2 is input to the subtractor 112. The subtractor 112 inputs a speed deviation signal, which is a difference between the position detection signal θs2 and the speed detection signal Vs obtained through the speed detection circuit 123, to the speed control circuit 113, and the current control circuit 115 drives the motor 117 ( Step S70). The transport vehicle 5 moves to the target position, and the movement is completed (step S71).

Here, the position loop inputs the position command signal θr to the subtractor 105, and the position control circuit 107 based on the position deviation θe → the changeover switch 109 → the subtractor 112 → the speed control circuit 113 → the current control circuit 115 → the motor 117 → This is a closed loop based on the position command signal θr composed of the linear position detector 19 → the subtractor 105, and the motor 117 is controlled by the position loop.
The speed loop inputs the speed command signal Vr1 or the speed command signal Vr2 to the subtractor 112, and the subtractor 112 obtains the speed deviation Ve that is the difference between the speed command signal Vr1 or the speed command signal Vr2 and the speed detection signal Vs, This is a closed loop based on the speed command signals Vr1 and Vr2 including the speed control circuit 113, current control circuit 115, motor 117, encoder 119, speed detection circuit 123, and subtractor 112 based on the speed deviation Ve.
Here, the position control refers to control having the position loop and the speed loop, and the speed control refers to control having the speed loop.

Embodiment 2.
Another embodiment of the present invention will be described with reference to FIG. 5 showing a block diagram of a servo control device. In FIG. 5, the same reference numerals as those in FIG.
In FIG. 5, a changeover switch 209 as the second changeover means in the servo control device operates in conjunction with the changeover switch 109, the terminal a is connected to the output of the absolute position calculation unit 121, and the b terminal is a linear position detection. The terminal c is connected to the speed detection circuit 123 and the interface 21.

  Even in the transport system having such a servo control device, the same operation and effect as in the first embodiment can be obtained by operating according to the flowchart shown in FIG.

Embodiment 3.
As shown in the first embodiment, when switching from speed control to position control during deceleration without having a low-speed traveling of a constant section of the motor, the output torque of the motor 117 becomes discontinuous and mechanical shock occurs. .
Therefore, in the present embodiment, it is possible to obtain a transport system in which mechanical shock is alleviated even when shifting from speed control to position control without having a low speed traveling of a constant section of the motor 117.

<Reason for mechanical shock>
The reason for this will be described with reference to FIGS. FIG. 6 is a control block diagram of the servo control device shown in FIG. FIG. 7A is a block diagram thereof.
In the control block diagram of FIG. 6, the position detection signal for speed control and position control is an encoder 119. In the block diagram of FIG. 7, the unit of the speed gain Kv is (rad / s), and the inertia moment of the motor 117 and the transfer characteristic of the current control circuit 115 are combined to be “1” for simplification. Based on such a block diagram, the transfer characteristic from the position command signal θr to the position deviation signal θe is expressed by the following equation when the Laplace operator is s.
θe = θr−Kv · Ve / s ² (1)
Further, the transfer characteristic from the position command signal theta _r to the speed deviation signal Ve becomes the following equation.
Ve = θr · s−Kv · Ve / s (2)
When the relationship between the position deviation θe and the position command signal θr is obtained from the above expressions (1) and (2), the following expression is obtained.
θe = s · θr / (s + Kv) (3)
In this equation (3), when the position command signal θr is the ramp input 1 / s ² and the speed V, the position deviation Θe at a constant speed is obtained by the final value theorem as follows.

Next, when the changeover switch 109 is turned on from the terminal a to the terminal b and switched to the speed command signal Vr2 based on position control, if the position deviation θe immediately after the change is θe ′, the servo control device shown in FIG. FIG. 7B is a block diagram. Based on this block diagram, the transfer characteristic from the position command signal θr to the position deviation θe ′ is expressed by the following equation.
θe ′ = θr−Kv · Ve / s ² (5)
Further, the transfer characteristic from the position command signal θr to the speed deviation Ve is as follows.
Ve = θe ′ · Kp−Kv · Ve / s (6)
When the relationship between the position deviation θe ′ and the position command signal θr is obtained from the above expressions (5) and (6), the following expression is obtained.
θe ′ = θr · s (s + Kv) / (s ² + s · Kv + Kv · Kp) (7)
In this equation (7), when the position command signal θr is the ramp input 1 / s ² and the speed V, the position deviation Θe ′ at a constant speed is obtained by the final value theorem as follows.

In such a servo control device, in order to eliminate the shock at the time of switching, it does not occur if the position deviation Θe of the above equation (4) and the position deviation Θe ′ of the above equation (8) are equal, that is, the speed gain Kv and the position. If the gain Kp is equal, it will not occur.
However, in general, the speed gain K _v of the speed loop (minor loop) in order to respond to the fastest, sufficiently large with respect to the position gain K _p of the position loop (major loop). That is, since Kv >> Kp, Θe >> Θe ′, and when the speed loop is switched to the position loop, the output torque of the motor 117 rapidly changes due to a rapid change from the position deviation Θe to the position deviation Θe ′. Therefore, a mechanical shock occurs.

<Configuration of servo control device that facilitates switching from speed control to position control>
Such a servo control device will be described with reference to FIG. 8, the same reference numerals as those in FIGS. 3 and 66 denote the same or corresponding parts, and the description thereof will be omitted.
In FIG. 8, a speed command signal Vr1 is input, and a speed filter circuit 106 is provided as filter means for generating a filtration speed command signal Vrf. The speed filter circuit 106 has a first-order low-pass characteristic that removes a frequency component higher than the cut-off frequency fc from the frequency components of the speed command signal Vr1 and passes a frequency lower than the cut-off frequency fc. The cutoff angular frequency ωf is 2πfc (rad / s) obtained by multiplying the cutoff frequency fc by 2π.
Here, if the speed filter circuit 106 has a first-order lag characteristic, the speed loop is changed when the speed loop is switched to the position loop, that is, when the changeover switch 109 is switched from the a terminal to the b terminal. Next, it will be described that the position deviation θe and the position deviation θe ′ of the position loop can be made the same.
First, when the changeover switch 109 is input to the terminal a and the motor 117 is controlled by the speed loop, the transfer characteristic from the position command signal θr to the speed deviation Ve is expressed by the above equation (2) and FIG. 7 (a). For reference, the transfer function Gf (s) of the speed filter circuit 106 is expressed by the following equation.
Ve = θr · s · Gf (s) −Kv · Ve / s (9)
When the ratio between the position command signal θr and the position deviation θe is obtained from the above equations (1) and (9), the following equation is obtained.
θe = θr · {s + Kv−Kv · Gf (s)} / (s + Kv) (10)
When the changeover switch 109 is switched from the a terminal to the b terminal and the motor 117 is controlled by the position loop, the position deviation θ _e ′ is expressed by the above equation (7), and the position deviation Θ _e ′ at a constant speed is (8)

In order for the position deviation Θe at a constant speed due to the position deviation θe in the above equation (10) to be a constant like the position deviation Θe ′ (V / Kp) in the above equation (8), the numerator in the above equation (10) The order of the Laplace operator s may be the same, and a constant is included in the denominator. This is because if the denominator does not include a constant and only the order of the Laplace operator s is set, the denominator becomes zero and the position deviation Θ _e becomes infinite when s → 0 according to the final value theorem.
In order to satisfy this requirement, it is appropriate that the transfer function Gf (s) = 1 / (1 + sT _f ), and Gf (s) = 1 / (1 + sT _f ) is substituted into the above equation (10). The following formula is obtained.
θe = θr · s [sT _f + (1 + Kv · T _f )] / [s ² · T _f + s (1 + Kv · T _f ) + Kv] · (11)
In the above equation (11), the position command signal θr, the lamp input 1 / s ² , and the speed V, the position deviation Θe at a constant speed is expressed by the following equation according to the final value theorem.

When the positional deviation Θe of the equation (12) and the positional deviation Θe ′ of the equation (8) are equal, a switching shock does not occur, so that the equation (8) and the equation (12) are equal, When the relationship between the position gain Kp and the speed gain Kv is obtained, the following equation is obtained.
Kp = (Kv · ωf) / (Kv + ωf) (13)
Where ωf is the cutoff angular frequency (rad / s) which is the reciprocal of the time constant Tf
Therefore, the position gain Kp and the speed gain Kv are set so as to satisfy the above expression (13). When the transport system is operated according to the flowchart shown in FIG. 4 with such a configuration, when the transport vehicle 5 reaches the first position, the host controller 20 generates a switching signal, and the servo control device switches the switch 109 from the terminal a to b. The motor 117 is driven through the speed control circuit 113 and the current control circuit 115 by switching from the filtration speed command signal Vrf to the speed command signal Vr2 by tilting to the terminal. Accordingly, even if the motor 117 is switched from speed control to position control during deceleration of the motor 117 without having the motor 117 run at a low speed for a certain interval by the stop preparation signal, the output torque of the motor 117 is continuous, so Shock is reduced.

    As described above, the present invention can be applied to the use of a transport system that can move the transport vehicle efficiently and accurately position the transport vehicle.

1 is an overall configuration diagram of a transport system showing an embodiment. FIG. 2 is a control system diagram of the transport system shown in FIG. 1. FIG. 3 is a block diagram of the servo control device shown in FIG. 2. It is a flowchart which shows operation | movement of the conveyance system shown in FIG. It is a block diagram of the servo control apparatus which shows other embodiment. FIG. 3 is a control block diagram of the servo control device shown in FIG. 2. The block (a) in which the changeover switch of the servo control device shown in FIG. 2 is input to the terminal a, and the block (b) in which the changeover switch is input to the terminal b. It is a control block diagram of a servo control device showing another embodiment.

Explanation of symbols

  5 transport vehicle, 19 linear position detector, 107 position control circuit, 113 speed control circuit, 117 motor, 119 encoder, 123 speed detection circuit.

Claims (5)

A motor that drives a moving body that moves along a predetermined path;
First position detecting means for detecting a rotational position of the motor and generating a first position detection signal;
Second position detecting means for detecting a position of the movable body in the range provided in a predetermined range of the path and generating a second position detection signal;
First speed detection means for generating a speed detection signal of the motor based on the first position detection signal;
First speed control means for generating a current command signal for driving the motor based on a first speed deviation signal which is a difference between a first speed command signal and the speed detection signal;
Position control means for generating a second speed command signal for driving the motor based on a position deviation signal which is a difference between a position command signal and the second position detection signal;
Second speed control means for generating a current command signal for driving the motor based on a second speed deviation signal which is a difference between the second speed command signal and the speed detection signal;
Based on the first or second position detection signal, the first speed command based on a switching signal generated when the moving body reaches a first position which is an end of the second position detection means. A first switching means for switching from the first speed control means to the second speed control means by switching from a signal to a second speed command signal;
A motor control system comprising: Second speed detection means for generating a speed detection signal of the motor based on the second position detection signal;
A second switching means for synchronizing with the first switching means and for switching from the first speed detecting means to the second speed detecting means;
The motor control system according to claim 1, further comprising: When the moving body reaches a second position in a direction away from the stop target position from the first position, a low speed command signal lower than the first speed command signal is generated based on a switching preparation signal generated. A control means for switching the first switching means after generating a predetermined time,
2. The motor control system according to claim 1, further comprising a motor control system. A motor that drives a moving body that moves along a predetermined path;
First position detecting means for detecting a rotational position of the motor and generating a first position detection signal;
Second position detecting means for detecting a position of the movable body in the range provided in a predetermined range of the path and generating a second position detection signal;
Speed detecting means for generating a speed detection signal of the motor based on the first position detection signal;
Position control means for generating a second speed command signal for driving the motor based on a position deviation signal which is a difference between a position command signal and the second position detection signal;
Filter means for removing a frequency component higher than the cutoff frequency among frequency components of the first speed command signal and generating a filtration speed command signal through a frequency lower than the cutoff frequency;
First speed control means for generating a current command signal for driving the motor based on a speed deviation signal which is a difference between the second speed command signal and the speed detection signal;
Second speed control means for generating a current command signal for driving the motor based on a speed deviation signal which is a difference between the filtration speed command signal and the speed detection signal;
From the filtration speed command signal based on the switching signal generated when the moving body reaches the first position, which is the end of the second position detection means , based on the first or second position detection signal. Switching means for switching to the second speed command signal and switching from the second speed control means to the first speed control means;
A motor control system comprising: The filter means generates the filtration speed command signal in which the first speed command signal is first-order lag;
The motor control system according to claim 4.

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