| 摘要 |
PURPOSE:To make a quick servo lead-in possible and to prevent linking by outputting a control signal through conducting an extrapolation correction corresponding to the change of the rotational speed of a servomotor due to a time lag from the point of time, when a pulse signal is applied, until the control signal is outputted. CONSTITUTION:Whenever a capstan frequency pulse C-FG is applied at the timing of t0-tn, an interruption handling routine is practiced and the period T0-Tn of the frequency pulse C-FG is calculated. The inverse number 1/T0-1/Tn of the period corresponds to the speed of a capstan-driving motor. This is a speed at the timing of t0-tn and a control signal is actually outputted later by Tx than said timing. Therefore, the estimated speed Xn of the motor is obtained by extrapolation and a controlled variable is determined on the basis of the estimated speed. As a result, a servo controlled variable accurately corresponding to the speed Xn at the point of time, when the controlled variable is outputted actually, is obtained so that the lead-in speed of the motor increases and linking is prevented. |
