| 摘要 |
PROBLEM TO BE SOLVED: To always negate disturbance applied to a load and to maintain no- load by using the nominal value of each part for an inverse function block of a transfer function between the block of a motor and a motor torque and estimating a disturbance element that acts upon the load. SOLUTION: Arrangement is made in such a manner that an input to a block is a torque input U0 *, load disturbance is TL and an output is torsion fluctuation torque Tm and a transfer function is calculated between the torque input U0 * to a motor and torsion fluctuation torque Tm that is a motor torque that feedbacks from a load device 4 through a torsion axis. The nominal value of each part is used for the block of a motor part 8 and an inverse function block of the transfer function and a disturbance element that acts upon a load is estimated. Thus, it is possible to always negate the disturbance TL applied to the load and to maintain a no-load state as if disturbance does not exist. |
