| 摘要 |
PURPOSE:To accurately control a torque by applying zero as a d-axis command value, and so controlling to compensate a q-axis current command signal that a product of a q-axis current detection signal and a function of an electric angle as a variable becomes a predetermined value. CONSTITUTION:The controller has a pulsation compensator 50 inserted between a speed controller 40 and a subtracter 42. An electric angle detection signal thetar is applied to the compensator 50, a q-axis current command signal i*q is applied. A compensation amount Fq (thetar) corresponding to a detected electric angle is selected from the signal thetar to obtain i*q.(1/Fq(thetar)) as a compensating q-axis current command value. Thus, zero is applied as the d-axis current command value, a d-axis is controlled to be fed back, and a q-axis is so controlled to be compensated for the q-axis current command signal that a product of the q-axis current detection signal and a function of an electric angle as a variable becomes a predetermined value. As a result, a torque pulsation component can be suppressed, and a stepping motor can be accurately controlled. |
