| 摘要 |
PURPOSE:To always obtain a rotational speed rising characteristic which is stable even when the rotational speed of a motor changes due to friction and the resistance of an armature and contact resistance of a brush make changes by the time or are changed by the environment by adjusting the factor of the transfer function of a PID adjuster so that the resultant value of the current deviation and acceleration deviation of the armature can become minimum. CONSTITUTION:The armature current of a motor 2 is controlled by detecting the rotating speed of the motor 2 by means of a position detector 3, converting the detected rotating speed into a speed by means of a speed conversion circuit 4, and inputting the deviation of the speed from a target value to a PID adjuster 1 after obtaining the deviation by means of a subtracter 9. In addition, the armature current is detected by means of an armature current detector 5 and, on the other hand, an acceleration is detected by inputting the output of the circuit 4 to an acceleration conversion circuit 6, too. An arithmetic section 7 carries out prescribed arithmetic operation by inputting the armature current and acceleration and outputs the result of the arithmetic operation to a gain adjusting section 8. The section 8 controls the factor of the operational expression of the adjuster 1 in accordance with the input value and adjusts the gain of a control system so as to make the hunting constant. |
