| 摘要 |
PURPOSE:To suppress vibration by constituting a motor control system, from motor speed to motor generating torque, of a compensating transfer function comprising the sum of a negative feedback proportional compensation element and a positive feedback differentiation compensating element. CONSTITUTION:A torque signal TRS is provided from a speed control circuit 1 to a speed model 8 which then outputs a reference speed for a motor 24 corresponding to the torque. An encoder 27 provides a pulse proportional to the rotational speed to a speed detector 28 which then converts the pulse into an actual motor speed WM. In place of a value proportional to the difference between the reference speed and the actual speed WM of the motor 24, the actual speed WM is added to a compensation transfer function 9 comprising the sum of a negative feedback proportional compensation element and a positive feedback differentiation compensating element thus producing a value to be employed actually. |
