| 摘要 |
PROBLEM TO BE SOLVED: To stably control the speed of an oscillating actuator at the start-up of the actuator. SOLUTION: Based on a pulse signal outputted from an encoder, the rotating speed of an oscillatory wave motor is detected by means of D flip flops 36 and 37, an inverter 38, an AND circuit 39, a 16-bit counter 40, and a 16-bit register 43. The detected value is used for controlling the feedback speed of the motor. At the start-up of the oscillatory wave motor, however, an RS flip flop 41 causes the 16-bit register 43 to output specific speed data. At the start-up of the oscillatory wave motor, therefore, open-loop control is performed, based on the speed data. |
