| 摘要 |
PURPOSE: To control a motor and a mechanical load without vibration and with a high response by arithmetically calculating the acceleration at the load side from a torque current and speed, by calculating the acceleration at the motor side and by compensating a torque current command value by respective calculated values of acceleration. CONSTITUTION: In a load acceleration computing element 10, an axial torque acting to a motor shaft is calculated from a torque current I1 of a motor and a motor speed ωm . This axial torque corresponds to a torque acting to a motor shaft as a reaction from a mechanical load during deceleration of the mechanical load. Therefore, by this axial torque, the acceleration α1 at the mechanical load side can be calculated. On the other hand, in a motor acceleration computing element 11, the motor acceleration αm is calculated by differentiating a detected value ωm of a motor speed with time. By doing the above, not only the vibration restriction at the mechanical load side but also the vibration restriction at the motor side can be achieved at the same time, so that axial vibration restriction with good responses can be performed without making the motor control system unstable. |
