MOTOR CONTROLLER FOR FIXED-TENSION SUSPENDED MECHANISM

摘要

PURPOSE:To constitute the title motor controller in a winding type by calculating the torque command value of the drive motor of a winding mechanism which reduces the tension of the mechanism by the fluctuated amount of the detected output of a tension sensor on the basis of the detected output of the sensor. CONSTITUTION:A control circuit 106 reduces the fluctuation of the tension on a suspension wire 103 and maintains the wire 103 at a fixed tension level by generating a torque command value on the basis of the detected output of a tension sensor 104 and driving a drive motor 105 on the basis of the torque command value. A statical friction offset generating means 107 generates a statical friction offset and eliminates the influence of statical friction when the motor 105 is started from a stopped state by adding the statical friction offset to the detected output of the sensor 104. In addition, a kinetic friction offset generating means 108 generates a kinetic friction offset and eliminates the influence of kinetic friction when the motor 105 is rotated by adding the kinetic friction offset to the detected output of the sensor 104.