| 摘要 |
PURPOSE:To improve the responsiveness of the torque control loop of a DC motor by constituting the control loop in such an ideal state that the control loop is not affected by the voltage induced by the motor. CONSTITUTION:A torque control section 1 generates a DC motor voltage command (v) from a current command I* and current FB signal I detected by means of a motor current detector 2 and outputs the command (v) to an induced- voltage observer computing device 5 and, at the same time, to a DC motor 3 through an input subtractor 4. The motor 3 is driven by means of the command (v) and an induced voltage (e) which is generated by the rotation of the motor 3 in proportion to the rotating speed m of the motor 3 is inputted to the (-) terminal of the subtractor 4. On the other hand, the actual current (i) of the motor 3 is detected by another DC motor current detector 2 and inputted to the computing device 5. The computing device 5 improves the stability of this torque control loop by canceling the voltage (e) by means of the subtractor 4 by generating an induced-voltage observer e' by means of arithmetic circuits 11-14, etc. |
