| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that an unstable phenomenon occurs due to resonance characteristics of a mechanical system when increasing electric inertia control response because the resonance characteristics of the mechanical system is not taken into account in electric inertia control. SOLUTION: The electric inertia control device includes an observer 101 to which an axial torque detection value and an angular velocity detection value are input and which calculates a roller surface drive force estimation value. The output thereof is output to an ASR part 103 via an inertial part, and subjected to a PID operation with the angular velocity detection value. An ATR part 104 of the electric inertia control device is designed by a controller design technique called H∞control,μdesign method on the basis of an ATR generalized plant model. A variation signal of the output of the ASR part and the axial torque detection value, a power meter angular velocity detection value, and a roller angular velocity detection value are input to the ATR, so that a torque current command value is generated. COPYRIGHT: (C)2010,JPO&INPIT
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