| 摘要 |
PURPOSE:To keep the accuracy in estimation of disturbance torque even if the current control loop of a motor is omitted, and suppress the speed ripple of specified high frequency and unspecified low frequency at the same time by simple constitution. CONSTITUTION:The motor speed controller of a voltage control loop is provided, inside a observer system of torque disturbance compensating means 30, with a disturbance torque estimate correcting means 35, and corrects the estimate of disturbance torque by the value being gotten by multiplying the detected speed value by a certain gain, and eliminates the induced voltage constant not reflected in the voltage control loop and/or the influence of viscosity. Moreover, defining that the ratio of the speed ripple in the case of having provided the disturbance compensating means having a filter at the output to that in the case of having not provided it is Rv and that the filter function is F(s), the simple relation that Fv=1-F(s) holds, so making use of it, a filter is set, in respect of the property, to the one which suppresses the speed ripple of specified high frequency and unspecified low frequency at the same time. |
