| 摘要 |
PURPOSE:To improve a response of a control system by calculating more accurate and less delay momentary position (rotary angle), momentary speed and momentary acceleration in a motor control system using pulse generating means such as a pulse encoder, etc. CONSTITUTION:State observing means 101 estimates a state variable 106 at the time of generating a pulse from pulse generating means immediately before a sampling timing for a state equation with three variables of a rotating speed 102 of a motor, a position 103 of the motor and a load disturbance torque 104 as state variables 106, with a motor torque 105 as a system input and with the position 103 as an output at each sampling timing. Momentary position calculating means 113, etc., detects a momentary value 114 of the position of the motor at the timing based on the equation from the variables 106, and a time difference 108 from the pulse generating time point measured by time difference measuring means 107 to the sampling timing. Accordingly, more accurate momentary values are obtained. |
