| 摘要 |
When a feed forward table is used to suppress a torque pulsation of a device which has a battery as a main power source, the internal resistance of the battery causes a voltage fluctuation in accordance with a load power, thereby generating an error in the compensation table. An automatic suppression device for cyclic disturbance preliminarily stores a compensation value for suppressing a torque pulsation in a compensation table. When suppressing the torque pulsation for each frequency component using a torque compensation value based on the torque setting value inputted and the rotation speed detected, the suppression device detects the voltage of the main power source to be controlled to input the detected voltage into a compensation table corresponding to the voltage, and outputs a torque compensation value dependent on the voltage referring to the compensation table to perform compensation. A compensation value correction unit refers to a specific table or a proportional expression, which depend only on the voltage to correct a torque compensation value (Tcn) obtained by adding the output (Ta) from a real part compensation table and an imaginary part compensation table (jTb). |
