| 摘要 |
PROBLEM TO BE SOLVED: To realize the stable motor control by detecting the rotational angle of a motor, estimating the motor current, based on the signal of the rotational angle and the signal of the velocity command, and providing a second feedback loop to feedback to the motor applied voltage, based thereon to estimate the motor current without using a current sensor. SOLUTION: The angular velocity (ω) of a motor is converted into the rotational angle θ by an integration element 18 and detected. The detected value is fed to a motor current estimation part 20 and a differential element 19, and again converted into the angular velocity (ω). A velocity-torque command conversion part 21 estimates the torque (τ) based on the angular velocity ω, and the motor current estimation part 20 estimates the current (i) based on the torque τand the rotational angle θ. The current (i) is again converted into the voltage (v) by a proportional element 17, and feedback is made so as to be subtracted from the output of the proportional element 12. The stable motor control can be realized by making feedback to the motor applied voltage, based on the estimated motor current. |
