| 摘要 |
PROBLEM TO BE SOLVED: To suppress the torsional vibration of a load even if a load of extremely low rigidity is driven in a twin drive system for driving the rotary shaft of the load from its both sides with motors. SOLUTION: A rotatable load 2 is driven from the both sides of the rotary shaft thereof with a first motor 4A and a second motor 4B. A speed regulator 9 receiving the difference between a basic speed command signal to the first motor 4A side and a speed feedback signal VF1 of the first motor 4A produces an output serving as a torque command of the first motor 4A and the second motor 4B. An output from a phase regulator 17 receiving the difference of rotational angles between the first motor 4A and the second motor 4B is added to the torque command of the second motor 4B so that the phase difference of rotational angles between the first motor 4A and the second motor 4B becomes zero. |
