| 摘要 |
PROBLEM TO BE SOLVED: To provide X-rays equipment for doctor's round visits operative with a feeling of natural operation by pressing an operating handle by an operator. SOLUTION: When the lever handle 14 is operated, pressing force F from left and right pressure sensors 15 and 16 are inputted to a CPU 11. The CPU 11 receives signals of motor rotating speeds V from left and right encoders 3 and 4 and computers pulse width W=α×f(V)×F for PWM control. A PWM control circuit 10 performs the on-off duty control of a switching element of bridge constitution of a motor driving circuit 9 according to the computed pulse width W. Output torque T of the motor driving circuit 9 is PWM- controlled to maintain the relation of T=α×F, and the torque T faithfully proportional to the pressing force F is outputted from a motor to realize natural operation.
|
