| 摘要 |
PROBLEM TO BE SOLVED: To guarantee robustness of a feedback system by making a rotational position of a motor follow up a position command value in quick response with high precision even if load inertia or disturbance acts on the motor.SOLUTION: A PWM generator 35 supplies a current having a current value I to a motor 14 based upon a signal of an input drive command value Dto drive the motor 14. A control part finds a speed command value such that a motor position &thetas; is closer to a position command value &thetas;, and also finds a current command value such that a motor speed is closer to the speed command value. The control part finds the drive command value Dsuch that the current value I is closer to the current command value, and outputs it to the PWM generator 35 in the form of a signal. The control part corrects the speed command value and current command value with a speed correction value ωand a current correction value Ifound based upon a difference value between a virtual motor position and the motor position.SELECTED DRAWING: Figure 2 |
