| 摘要 |
PROBLEM TO BE SOLVED: To provide a stabilized controller in a system where backlash exists. SOLUTION: Estimators 91, 92, 93, 94 operate disturbance during motor control and an operating unit 95 having a function for varying depending on an estimated value operates a PI gain for controlling a motor 7. The motor is operated with a small gain while taking account only the rotor inertia during backlash and operated with a maximum gain in the control system when the motor is coupled with a load. During backlash, gain is decreased while bringing I gain to 0 and only P control is performed. In this regard, a torque error from the estimator is operated and fed back in order to compensate for the gain. |
