| 摘要 |
PROBLEM TO BE SOLVED: To suppress mechanical resonance in a desired frequency band in changing frequencies, especially in low-frequency range. SOLUTION: A disturbance observer 6, that observes the disturbance of a moving part 1 which is to be induced by an electromagnetic force (F) outputted by a current control part 2 and moves relatively, is provided with a calculation part for calculating a resonance-suppressing frequency (F3 (z)), based on an input side corresponding frequency F1 (s) which corresponds to an input side frequency TQ inputted into the current control part 2 and an output side corresponding frequency F2 (s) which corresponds to the output side frequency 'w' to be outputted from the moving part 1. A calculating part has the function of a band-pass filter, which does not allow the output side corresponding frequency F2 (s) and input side to pass through corresponding the frequency F1 (s) of the frequency band that is set for each. A resonance suppressing frequency (F3 (z)) is combined into the input side frequency and inputted to the current control part 2. |
