| 摘要 |
<P>PROBLEM TO BE SOLVED: To apply virtual mode control including a load side disturbance observer, even in configuration wherein one load is driven in common with a pair of motors at both ends of each shaft to use one encoder in common. <P>SOLUTION: The motors at both ends of the drive shaft are subjected to the virtual mode control to be divided into a cumulative mode and a differential-mode based on a secondary Hadamard matrix. When a position servo in a cumulative shaft is subjected to dual-shaft synchronous control by respectively constituting a position regulator for deviation amount suppression in the differential shaft, a signal of a linear encoder 16 is regarded as a linear encoder signal of the cumulative mode, and a load side disturbance observer 42 specially for the cumulative mode is configured based on a shaft twisting angle and a load acceleration. The load side disturbance estimated with the load side disturbance observer specially for the cumulative mode is fed-back on the cumulative mode side, through a reverse system 50 from the load side disturbance to a position command value, while the control system of the load side disturbance observer is not constituted in the differential mode. <P>COPYRIGHT: (C)2010,JPO&INPIT |
