| 摘要 |
PURPOSE:To control to suppress a twisting vibration in all speed and torque control modes by switching an accelerating torque command signal in synchronization with the speed and torque control modes, and calculating a torque command compensation for cancelling the load torque of a motor. CONSTITUTION:The sum of the output signal TRFA of a speed controller 9 and an acceleration/deceleration torque compensation signal (Tcomp) is used as the acceleration torque command signal (TRFAX) of a twisting vibration suppressing controller (BC) 10A at the time of a speed control mode. The difference between the Tcomp and the torque command compensation signal TRFL of a torque compensator (TC) 13A is used as the TRFAX of a BC 10A at the time of a torque control mode. The difference signal between the signals TMAFB and TRFAX obtained by multiplying a signal differentiated from a real speed by the mechanical time constant of a motor is input to the TC 13A, and a torque command compensation signal (TRFL) for cancelling a load torque to become a disturbance torque for the torque command signal is calculated. The signal obtained by adding the TRFL to the signal TRFMX to the motor is used as the final torque command signal TRFM. |
