| 摘要 |
PURPOSE: To allow the offset amount generated at a positional error at the time of automatic control to follow up a rotating state to be cancelled by smoothly continuing a drive control signal at the time of shifting to the automatic control. CONSTITUTION: The present speed vpv and the present angle θpv . of a motor 8 are detected from the R/D data of a resolver. Upon reception of a start command, the counted value of an UP/DOWN counter 3 is monotonically counted up by a fixed clock, and the motor 8 is softly started. When the speed vpv reaches a reference speed vsp , it is shifted to the operation mode of a constant speed holding. When a predetermined time is elapsed upon reception of the start command, the operation mode of the constant speed holding is shifted to the operation mode of an automatic control. In the mode of the automatic control, the counter 3 is counted up or down by the clock of the frequency corresponding to the speed vpv at the counted value according to the polarity of the position error (decelerating or accelerating direction). |
