| 摘要 |
PURPOSE:To generate output torque changing by the square of a sine wave and the square of a cosine wave, and to bring synthetic torque to a fixed value by connecting two motors in the axial direction or the lateral direction or coupling them with the same output shaft so that the phase difference of output torque substantially reaches 90 deg.. CONSTITUTION:Motors 20A, 20B produce sinusoidal output torque. They are driven 90 deg. out of electrical phase, characteristics are displayed in a sine waveform to constant driving current, and the outputs from both motors are mechanically combined by a coupling member 22. A driving circuit 24A applies driving current Ksintheta (K represents a proportional constant) to the motor 20A, and a driving circuit 24B applies driving current Kcostheta to the motor 20B. Accordingly, the output torque of the motor 20A is shown by Ksin<2>theta and the output torque of the motor 20B by Kcos<2>theta. The combined output torque from the motors 20A, 20B is expressed by Ksin<2>theta+Kcos<2>theta=K, and the ripple of output torque reaches zero in principle. |
