| 摘要 |
PROBLEM TO BE SOLVED: To obtain a load transmission apparatus which ensures a good transmission accuracy by suppressing the occurrence of a resonance phenomenon without making a structure in a load transmission member complicated. SOLUTION: In a torque control device 50, a target torque setting part 52, a comparison part 54, an indicating torque computing part 56, a dynamometer drive part 58 and the like are provided. The indicating torque computing part 56 computes an indicating torque Tc on the basis of the deviation (u) between a target torque Tt and an actual torque Ta which is detected by a torque sensor 40 and on the basis of a prescribed control gain. The control gain in the indicating torque computing part 56 is set in such a way that its gain characteristic is flat at a prescribed frequency and that a resonance point and an antiresonance point do not exist regarding the frequency transmission characteristic of a closed-loop control system constituted of a torque transmission system 100, The dynamometer drive part 58 drives a dynamometer 20 by a driving current I whose magnitude is based on the indicating torque Tc computed by the indicating torque computing part 56.
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