| 摘要 |
PROBLEM TO BE SOLVED: To enable synchronous operation, while precisely keeping load torque constant at the time of acceleration and deceleration by adding acceleration torque component necessary for synchronous operation from a speed data inputting means and an acceleration detecting means, to a setting torque command. SOLUTION: An acceleration detecting means 22 converts velocity data from a velocity data inputting means 21 into acceleration data and delivers the data to a torque control means 23. A setting torque command and the acceleration data are inputted in the torque control means 23, which forms an acceleration torque command and performs the torque control of a sub X-shaft as the torque control shaft by using a torque command, wherein the acceleration torque command is added to the setting torque command. Hence, the torque control equipment 23 gives the torque command which can follow the movement of a main control equipment 6, while including the transient time and enables synchronous operation, while precisely keeping load torque constant. |
