| 摘要 |
PROBLEM TO BE SOLVED: To provide a velocity/torque controller for a tension control motor which enhances the quality of a coil by equalizing the operation of a motor and suppressing the tension ripple at acceleration and deceleration. SOLUTION: PC 12 includes a velocity commanding unit 16, a torque command generator 15 which generates a field voltage command value and a torque command value to the motor 8 according to the coil diameter on a winch 2, a velocity feedback control system which controls the armature voltage of the motor according to the deviation between the velocity command value and the rotational velocity of the motor, and an inertia compensator 18 which computes the quantity of inertia compensation in the case of winding two kinds of winding objects one over the other while controlling the acceleration and deceleration. The inertia compensator 18 includes a calculation means which computes the quantity of inertia compensation to each winding object individually. This computes the inertial moments of two kinds of winding objects different in specific gravity individually, and compensates the synthetic value as the quantity of inertia compensation. |
