| 摘要 |
PURPOSE:To enable swift and precise speed and disturbance compensation of a motor, and moreover to perform stable speed control. CONSTITUTION:In an edge-data detecting part 24, edge data for speed detection are detected from the output signals of a pulse encorder fitted to the rotor shaft of a motor 15. The newest one out of the edge data detected by this edge-data detecting part 24 is detected by a selector 16. To compare this detected value with the speed of a motor model 18, the output of the model is delayed by a time corresponding to one sampling in a delaying part 19, and is averaged in averaging processing parts 20a-20d after that. These averaged output values are compared with detected values in fourth-seventh deviation parts 21a-21d. |
