| 摘要 |
PURPOSE:To realize simple and quick regulation of speed regulator by driving a motor with a constant torque through a current control system, measuring acceleration at that time and determining an inertia moment based thereon, and setting coefficient of the speed regulator based on the inertia moment. CONSTITUTION:A speed regulator 8 comprises a proportional element having coefficient Kp and an integrating element having time constant of T1/Kp. A minor loop 200 is shown as one delay element C having time constant of TCR and proportional coefficient of Kc. A current regulator 4 can be regulated optimally and thereby the minor loop 200 can be approximated to a primary delay element having sufficiently small time constant. An integrating element 34 represents a relation between a torque generated from a DC motor 3 and the rotational. speed (n) thereof and has a time constant TM proportional to the inertia moment M. In other words, when the inertia moment is known, the time constant TM can be determined and two optimal coefficients can be determined for the speed regulator 8 and thereby a speed control system, i.e., main loop, can easily be optimized. |
