| 摘要 |
PURPOSE:To suppress the hunting of a motor by providing an integrating element which simulates the backlash characteristic of a gear and an insensitive band element to a load state observing instrument in a device which couples the elastic shaft of a load through the gear of the elastic shaft of the motor. CONSTITUTION:The elastic shaft 7 of a motor 5 is coupled through the elastic shaft 9 of a load 10 and a gear 8. The motor 5 is energized through a thyristor converter 3, and is controlled by a speed controller 1 and a current controller 2. A load state observing instrument 20a has an integrating element 141 which simulates the backlash characteristic of a gear 8, an insensitive element 142, and an integrator 143 which represents the gear, and receives currents from a current detector 4 and a tachometer generator 6 and a motor rotating speed. The rotating speed command value of the motor and the output of the generator 6 are inputted to the controller 1, and the output of the instrument 20a is subtracted from or added to the input of the controller 2. In this manner, the hunting of the speed controlling operation produced due to the backlash of the gear 8 can be suppressed. |
