| 摘要 |
<p>Provided is a dynamometer system capable of stable speed control and position control even in instances of large load inertia. A speed-control device (6C) in a dynamometer system is provided with: a speed-control-circuit unit (61A) for calculating a torque-current-command value (T2) on the basis of an angular-velocity-command value (ωref) and the angular velocity (ωM) of the dynamometer; a disturbance-observer-compensation unit (63C) for correcting the torque-current-command value by subtracting a disturbance observer (Tobs) from the torque-current-command value (T2); and a shaft-torque-detection-compensation unit (62A) for correcting the torque-current-command value by adding a shaft-torque-detection-compensation amount (Tsh_K), which is obtained by multiplying a filter transfer function (GBPF) and a control gain (K1) by a shaft-torque-detection value (Tsh), to a torque-current-command value (T1). Therein, the filter transfer function (GBPF) has only the resonance frequency and vicinity thereof for mechanical systems comprising load devices and dynamometers set as a passband.</p> |
