| 摘要 |
PROBLEM TO BE SOLVED: To stably start a motor to which a load is already applied by outputting a predetermined initial value as a disturbance estimate signal when a period error signal is judged to be not in the predetermined range. SOLUTION: A period detector 120 detects the period of a DC motor 100 and outputs a period signal TFG. A comparator 130 outputs a period error signal ΔTFG corresponding to a deviation between a period signal TFG and a period command value Tr. A controller 30 performs control compensation for a period error signal ΔTFG and outputs a control signal c. A disturbance estimator 1 outputs a disturbance estimate signal d corresponding to a period signal TFG and a drive signal D. A corrector 10 corrects a control signal c and outputs a drive signal D. A driver 150 supplies a drive current Ia corresponding to a drive signal D to a DC motor 100. A judging device 5 judges whether a period error ΔTFG is within a predetermined range and outputs the results of judgment as a reset signal RE to the disturbance estimator 1 and the controller 30. |
