| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to suppress axial torsional vibration without degrading the response speed of a speed adjustment loop, by providing a circuit for compensating phase lags in speed detection which is output from a speed detection circuit based on the number of output pulses of a pulse generator. SOLUTION: A speed adjustment loop 22 consists of a torque control loop 14 comprising a current adjuster which controls the output torque of a motor 1 based on a torque command value, the output of a speed adjuster 23 calculated based on a speed command value and a detected value, and the like. The calculation cycle of a phase compensation circuit 21 matches the calculation cycle of the speed adjuster 23 and the measuring period of a speed detection circuit 11. If the coefficient of a multiplier is '0', the transfer function from the actual value for the rotational speed of the motor 1 to the output of the phase compensation circuit 21 is equivalent to that when the phase compensation circuit 21 is absent. When the coefficient is increased to the extent that it is not more than 1, the response of the high-frequency component of the actual value for the rotational speed is improved. When the coefficient is increased, there are influences of noise produced during speed detection; therefore, the torque command value is monitored and further adjusted to a desired value. |
