| 摘要 |
In torque pulsation suppressing control in apparatus using battery as main power source, with feedforward table, there arises compensating table error due to voltage fluctuation by battery internal resistance, depending on load power. In system where compensating values for suppressing torque pulsation are collected beforehand in the form of compensating table, and the torque pulsation of each frequency component is suppressed by the torque compensating quantity determined by inputting torque command and sensed rotational speed, the system senses main power source voltage of controlled object, and to perform compensation by outputting the torque compensating quantity dependent on the voltage by inputting into the compensating table corresponding to voltage. Furthermore, a compensation correcting section corrects torque compensating quantity Tcn determined by the sum of output Ta of real part compensating table and quantity jTb of imaginary part compensating table, with predetermined table or proportional expression depending only on voltage. |
