| 摘要 |
PROBLEM TO BE SOLVED: To realize torque control of a two-inertia torsion shaft system superior in both disturbance characteristic and instruction follow-up characteristic without using a torque meter. SOLUTION: In the torque control of a two-inertia torsion shaft system, a disturbance observer is provided in inside an electric motor to input motor torque and electric motor speed, estimated shaft torque is calculated with the disturbance observer, a PID controller is provided to input the deviation between the torque instruction and the estimated shaft torque, and a feed forward proportional compensator inputting the torque instruction is also provided, the sum of the output of the PID controller and the output of the feed forward proportional compensator takes a means for controlling the shaft torque as the motor torque, the disturbance suppression characteristic is improved by the PID controller, and the instruction follow-up characteristic is improved by the feed forward proportional compensator. |
