| 摘要 |
PROBLEM TO BE SOLVED: To suppress wow-flutter in the decelerated revolution output of a motor with a decelerator and, further, facilitate high precision positioning. SOLUTION: A motor M with a decelerator has a 1st sensor S1 which detects the rotation θ1 of the output shaft 1 of the motor M and a 2nd sensor S2 which detects the rotation θ2 of the output shaft 15 of a decelerator. In a motor control system having a torque constant Kt and an inertia J, the output θ1 of the 1st sensor S1 is differentiated twice to obtain the angular acceleration of the motor output shaft rotation. Further, the output θ2 of the 2nd sensor S2 is multiplied by (n) and differentiated twice to obtain the angular acceleration of the decelerator output shaft rotation. The difference between those angular accelerations is divided by the torque constant to obtain a feedback current. As a result, the wow-flutter of the decelerator output rotation can be suppressed and, further, the motor control which facilitates the high precision positioning can be realized. |
