| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method provided with a current compensation means which can avoid the influence of external disturbance upon motor speed without depending on the gain value of a current amplifier. SOLUTION: This method controls the speed of a motor by using a control equipment having a current control loop for controlling an armature current IM as a minor loop, to a speed control loop for controlling a motor speed. The estimation value of motor torque is obtained by multiplying the armature current IM of a motor and the nominal value KTn of a torque constant KT. The inverse model of integration characteristics of the moment of inertia JM of the armature 14 of the motor is simulated and a differentiator 23 is constituted. From the above estimation value of the motor torque, the estimation value of the motor torque obtained by differentiating a motor speed detection value by using the differentiator 23 is reduced, thereby obtaining the estimation value Td0 of external disturbance torque. By using a proportional differentiator 4 constituted by simulating the inverse model of a current loop and an amplifier 3 having a gain equal to the inverse of the nominal value of a motor torque constant, specified operation is applied to the estimation value Td0 of the external disturbance torque. The obtained value is adopted as the compensation value ΔIC of a current command value. |
