| 摘要 |
PURPOSE:To stabilize rotation of motor by performing proportional control of the rotational speed and the phase of a motor depending on the rotational acceleration of motor. CONSTITUTION:In a software servo, rotational speed S of a motor 12 is detected based on an FG signal. Period of FG signal is detected from current and previous FG signals and acceleration K in the rotation of the motor 12 is detected based on the difference. Furthermore, rotational phase P of the motor 12 is detected based on the PG signal. Rotational speed S, acceleration K and phase P are substituted into formula I and the rotational speed S is combined with the phase P depending on the acceleration K. Primary and secondary lag filter data F1, F2 are then determined based on a combined data G and substituted into formula II thus combining F1, F2 depending on a normalized acceleration K'. Combined data A is then converted into an analog signal for driving the motor 12 through a driver 18. In other words, combined data G for maximum acceleration K is represented by formula III whereas combined data G for minimum acceleration K is represented by formula IV. |
