| 摘要 |
PROBLEM TO BE SOLVED: To suppress the large change of a drive current at correction of slippage, by lessening the error in an estimated angle at acceleration and deceleration. SOLUTION: This motor controller counts the number of pulses between the signal edges of the detection signal from a position detector which detects the rotational angle of a rotor, and computes the quantity of update of the angle with every pulse. This computes the slippage angle between the estimated angle and the rotational angle, and gets the quantity of slippage correction per pulse from correction gain, and adds this to the quantity of angle update so as to make the present estimated angle. This performs the angle update where the quantity of slippage correction is added by the number of times based on the amount of slip angle, and after that, this performs the angle update by the quantity of angle update. The slip correction by the amount of slip angle is performed in stages at acceleration and deceleration, and the error in estimated angle becomes minimum. |
