| 摘要 |
PROBLEM TO BE SOLVED: To provide a speed controller in which the saturation of an amplifier is avoided and which is hardly influenced by a noise. SOLUTION: A difference between a value which is obtained by multiplying the estimated value of a motor torque which is the product of a detected motor armature current value IM and the nominal value KTn , of a motor torque constant by a factor β/α and a value which is obtained by multiplying the estimated value of a motor torque which is obtained by differentiating the detected motor speed value by a differentiator 31 which is the simulation of an inverse model of the integral characteristic of the moment of inertia of a motor rotor by a factor 1/α and a difference between a value which is obtained by multiplying the value which is obtained by multiplying the estimated value of a motor torque which is the product of a detected motor armature current value IM and the nominal value KTn by a factor (β-1) /α and the above mentioned latter value are respectively obtained by an external disturbance torque observer 2. Then a difference between both the differences is calculated and the calculated value is multiplied by a factor αand the obtained value is used as the estimated value Td0 of an external disturbance torque. With this constitution, the saturation of an amplifier 21 of which the external disturbance torque observer 2 is composed can be avoided and the influence of the noise can be almost eliminated. |
