| 摘要 |
PROBLEM TO BE SOLVED: To prevent hunting from being generated even in the case where an inertia moment is large, by limiting a current amplitude without directly controlling a command value regarding the current amplitude or a speed.SOLUTION: A speed command ω* starts rising at a time t1. Before a time t2, an amplitude Ia of a current is smaller than a predetermined value Ith and the speed command ω* rises at a predetermined rise rate. Even at the time t2, the speed command ω* does not reach an original speed command ω** and takes a value ωth(<ω**). Therefore, even after the time t2, the speed command ω* rises. In order to make the speed command ω* rise more, however, it is necessary to make the amplitude Ia equal to or larger than the predetermined value Ith. As the amplitude Ia exceeds the predetermined value Ith, an upper limit value Q for the rise rate of the speed command ω* decreases. Namely, as the speed command ω* rises more than the value ωth (this is a value of the speed command ω* when the amplitude Ia takes the predetermined value Ith), the rise rate is reduced further. |
