| 摘要 |
PURPOSE:To obtain a speed feedback signal which has only a small deterioration in accuracy in a low-speed range and which has no phase lag by estimating the speed based on the positional information obtained from an encoder, etc., characteristics of a motor, and a torque command and finding a weighted running average of the speed using a calculating formula. CONSTITUTION:A control calculator 5 receives a speed command and a speed feedback signal vfb and then outputs a torque command (u). A motor 6, having a torque controller and a position detector, receives a torque command u (i) at the present time (i) and then outputs a detected value of position y (i-K) at a time KTs (K>=0, Ts: sampling frequency) before. A predictor 1 outputs estimated values of speed v* (i+m) from the present time to a time M samplings after based on a dynamic characteristics model of the motor 6, the torque command (u), and the positional information (y). A calculator 4 calculates a speed v (i-K) and a memory 3 stores speed v (i-m) till the time i-K from earlier M' samplings. Then, a calculator 2 calculates a running average using a formula including weight coefficients w, w' and obtains a speed feedback signal. |
