| 摘要 |
PURPOSE:To substantially suppress a torque ripple by measuring a rotary angle of a motor, obtaining torque constant corresponding thereto, and calculating a current to a motor from the given torque command value and the constant. CONSTITUTION:A rotary angle theta of a motor is measured by an encoder 2 coupled directly to the shaft of the motor 1, a directional discrimination circuit 3, and an up/down counter 4, is applied as an address of a ROM 6 in which the relationship between applied the theta and 1/KT is written to obtain the value of 1/KT, converted to an analog voltage by a D/A converter 8, then the product of the torque constant KT and the torque command value is obtained by a multiplier 9 to decide a current. Latch circuits 5, 7 provided at the intermediate are provided to prevent an erroneous operation by invalid data generated at the moment of the operation of the counter and the address change of the ROM, and discriminate the timing of generating a glitch by the timing signal to eliminate transmission of the invalid data to the next stage. |
