| 摘要 |
PROBLEM TO BE SOLVED: To obtain exactly a speed change resulting from torque ripples generated as a result of the rotation of a motor, by calculating the position and magnitude of the speed change generated periodically by the motor. SOLUTION: A CPU2 calculates a relation between the rotational angle of a motor 9 based on speed command data and the actual rotational angle of the motor 9 as actual rotation data based on a detected signal inputted from an encoder 10. By shifting the start points of the respective calculated data by a prescribed angle from the origin of the motor 9, a plurality of data are prepared to determine a plurality of transmission functions. To determine the start point of the speed change, the one that has the maximum gain is selected, and the magnitude of the speed change is calculated based on a basic peak-to-peak value and the maximum gain. It is thus possible to catch exactly a speed change resulting from torque ripples generated as a result of the rotation of the motor 9. |
