| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the problem of difficulty in improvement of both of a command response and a disturbance response by speed control of PI control only because of trade-off relationship. <P>SOLUTION: A speed control device includes a feed forward unit at a speed control unit. A transfer function comprising a ratio of a step-like angular velocity command ωref input to the speed control unit and an angular detection ωdet of a control target is obtained by a formula (1)': ωdet/ωref=(KI+FFäEMBEDEquation.3,})/äJdys<SP>2</SP>+(KP+Ddy)s+KI} (in formula (1)', KP and KI are proportional and integral parameters of the speed control unit, Jdy is motor inertia, and Ddy is a rotation loss). A parameter FF of the feed forward unit is obtained from KI+FFs=KI, where a zero point of a numerator polynomial in the formula (1)' is equal to a constant term of a denominator polynomial and FF is equal to 0. <P>COPYRIGHT: (C)2011,JPO&INPIT |
