| 摘要 |
PROBLEM TO BE SOLVED: To secure the stability of a motor, even when the setting time is shortened in a state where a disturbance exists by adding a path through which a signal obtained by integrating the product of a compensated angle signal and a coefficient is added to a torque command signal to a control circuit, which incorporates speed control in a minor loop and inputs the output of a position control circuit as a command input. SOLUTION: The difference signal between a response target angle signal θf and the rotating angle θM of a motor is inputted to an integrating and compensating circuit 19 as a compensated angle signal θc. The circuit 19 outputs a signal, obtained by integrating the product of the input θc and a coefficient KI, as a second compensated torque signal τc2. Then the summed signal of first and second compensated torque signals τc1 and τc2 is inputted to a torque control signal 6 as a compensated torque signal τc, and the sum signal of a feedfoward signal signal τf outputted from a feedfoward signal computing circuit 9 and the compensated torque signal τc is inputted to the circuit 6, as a torque command signal τr. |
