| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a speed control device of an electric motor which can optimize the target value response and the disturbance response individually. <P>SOLUTION: A speed control means comprises: an integrating amplifier 221 which multiplies the deviation of a speed command and a speed feedback by an integral gain G<SB POS="POST">I</SB>to integrate; a feedforward compensator 224 which defines the speed command as a common input to add an output of an incomplete differentiator having a proportional gain G<SB POS="POST">F1</SB>and an output of a first delay computing device having a proportional gain G<SB POS="POST">F2</SB>and output it; an adder/subtractor 222 which subtracts the speed feedback from the output of the integrating amplifier 221 and adds the output of the feedforward compensator 224; and a proportion amplifier 223 which obtains a torque command by multiplying the output by a gain adjustment parameter G<SB POS="POST">P</SB>. When a speed command response time constant is τ<SB POS="POST">r</SB>, a torque disturbance response time constant is τ<SB POS="POST">d</SB>, and a load inertia moment including the electric motor is J, the following relationships are met: G<SB POS="POST">1</SB>=1/τ<SB POS="POST">d</SB>, G<SB POS="POST">P</SB>=σ<SB POS="POST">r</SB>×J, G<SB POS="POST">F1</SB>=1/(σ<SB POS="POST">r</SB>×τ<SB POS="POST">r</SB>), G<SB POS="POST">F2</SB>=1-τ<SB POS="POST">r</SB>/τ<SB POS="POST">d</SB>. <P>COPYRIGHT: (C)2012,JPO&INPIT |
