| 摘要 |
PURPOSE:To prevent minute twisting vibrations by inserting a torque meter between a motor and a load and effectively utilizing its detect signal. CONSTITUTION:Deviation (e) between a velocity command input w* and an output omega(S) is subjective to stablizing compensation composed of a controller PI 1 to be one part of a state amount to give an output, T*(S). A damping compensate signal, for which the output of an estimator 6 for providing an axial torque meter output is passed through a high-pass filter 7, is added to this output omega(S). The torque command T*(S) is applied to a motor 2 as one part of a controlled system while applying a torque generation coefficient Kt to that command by passing it through a power actuator. By adding a load velocity estimator output through the high-pass filter to feedback while using a driver side velocity omegaL(S) and axial torque meter TTM(S) information, damping is enabled. |
