| 摘要 |
<p>When unlocking a crankshaft to reversely rotate the crankshaft in a direction in which load torque is applied, large unlocking torque is necessary. Thus, for example, when the crankshaft is reversely rotated until the rotation angle (?) thereof reaches a command value (t?) as shown in the drawing, rotation position control torque (Tm) is not set and only unlocking torque (TLoff) is set as motor torque for a period from an unlocking start time (t1) to an unlocking end time (t2), and at the unlocking end time (t2), because TLoff=0, only rotation position control torque (Tm) is set as motor torque. Otherwise, due to interference between Tm and TLoff, unlocking is delayed as shown by a bold dashed line. However, since motor torque is set to Tm during the time period from t1 to t2, problems related to unlocking delay can be solved.</p> |
