| 摘要 |
PURPOSE:To control the speed of a motor in a very low speed region stably by using a pulse encoder having low resolution while facilitating adjustment, to improve the accuracy of speed estimation and to stabilize a speed control system from low speed to high speed. CONSTITUTION:The deviation of a torque command and a load torque estimate is arithmetically operated by a first arithmetic section 12. The arithmetic output is arithmetically operated by a second arithmetic section 13, and a mean value at pulse spacings is obtained. The deviation of the mean value and a speed mean value is acquired by a first deviation section 14. The deviation output of the first deviation section 14 is multiplied by observer gains by an observer gain section 16 and the load torque estimate is obtained while a deviation with the arithmetic output of the first arithmetic section 12 is acquired by a second deviation section 17. A speed amplifier 19 is supplied with the deviation output of the second deviation section 17 as a feedback signal as a speed estimate, thus controlling the speed of a motor. |
