| 摘要 |
A system and method for controlling a speed of a motor in an extremely low speed range having a rotary pulse encoder which outputs a pulse whenever a rotation axle of the motor has rotated through a predetermined angle, the extremely low speed range being defined such that a pulse interval of the output pulses is longer than a speed control period of the system are disclosed in which a least order disturbance, load torque estimated value observer is provided, the least order disturbance observer including: a first calculating block which calculates an estimated value of the motor speed n/< ANd >M'(j) of a motor model on the basis of a torque command and a load torque estimated value; a second calculating block which calculates an average value of the motor speed at each pulse interval @ M'(j) as follows: <MATH> wherein i denotes the speed control period and j denotes the pulse interval of the pulse encoder, a first deviating block which deviates between the average value of the motor speed derived from the second calculating block @ M'(j) and an average value of the motor speed nM(j) derived on the basis of the pulses of the pulse encoder, a second deviating block which deviates between the output value of the first deviating block n/< ANd >M'(i) and the deviated output nM(j) - @ M'(j) of the first deviating block to derive the speed estimated value of n/< ANd >M(i), a proportional gain observer which outputs the estimated load torque value tau /< ANd > L(j) from the deviated output of the first deviating block, and a third deviating block which deviates between the load torque command tau M @ (i) and the load estimated value tau /< ANd > L(j) from the proportional gain observer. <IMAGE> |
