| 摘要 |
PURPOSE:To provide a controller for an ultrasonic motor appropriately while following up fluctuation in the characteristics of the motor. CONSTITUTION:In the controller, the motion control system for a motor 1 is constituted of a first feedback control loop comprising a position compensator 13, a speed compensator 14, a D/A converter 29, an analog multiplier 8, a power amplifier 6, a transformer 7, an ultrasonic motor 1, a rotary encoder 2, a position detection signal 11, and a differential operation unit 15, wherein a voltage command 3 is generated from the speed compensator 14 as a signal of a first loop. On the other hand, a second control loop is provided in order to generate a frequency command being applied to the D/A converter 9. The cyclic transmission gain of the first loop is sustained constant by inputting the voltage command 3 and a speed detection signal 16 to a gain identifier 17 provided in the loop and identifying the gain of the first feedback loop. Consequently, the first loop can follow up fluctuation in the characteristics of motor or in the disturbance. |
