| 摘要 |
A circuit for controlling a servomotor while minimizing a steady-state velocity error being associated with the servomotor. A velocity transducer is coupled to the servomotor to provide a first signal representing an angular velocity of a servomotor shaft. A comparator receives as input the first signal and a second signal representing a desired angular velocity of the servomotor shaft. The comparator produces a comparator output signal representing the steady-state velocity error as defined by a difference between the angular velocity of a servomotor shaft and the desired angular velocity of the servomotor shaft. Means are provided for deriving a value of a current flowing through the servomotor and for producing a third signal representing that current. The third signal represents a frictional torque applied to the servomotor shaft. An adder receives as input the comparator output signal and the third signal. The adder produces an adder output signal representing a correction to the angular velocity of the servomotor shaft that compensates both for the frictional torque applied to the servomotor shaft and for the steady-state velocity error. Means are provided for amplifying the adder output signal to provide an amplified current and for driving the amplified current to the servomotor to effect the correction to the angular velocity of the servomotor shaft, thereby minimizing the steady-state velocity error.
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