| 摘要 |
[Problem] To suppress excessive increase in output torque of an electric motor for rotation to automatically prevent reverse. [Solution] Means (31) calculates a target value of the rotation speed on the basis of a command from a device (20), means (32) calculates the deviation of a detection value from a rotation speed sensor (81) and the target value, means (33) calculates first target torque in the direction for resolving the deviation, and means (34) calculates second target torque in the same direction as the target value on the basis of a command from the device (20). Means (50) and means (60) calculate the amount of change of the rotation angle of an electric motor (12) in a first range and a second range, respectively. Means (40) calculates third target torque in the direction for returning to the rotation angle at a predetermined time (t) ago on the basis of the amounts of change from the means (50, 60), and means (73) restricts the first target torque to one of the second and third target torque, which is the same direction as the first target torque, and an absolute value of which is larger. The substantially overall first range defines the range of the amount of change of a first direction, and the remaining small range defines the range of the amount of change of a second direction. The substantially overall second range defines the range of the amount of change of the second direction, and the remaining small range defines the range of the amount of change of the first direction. |
