| 摘要 |
PURPOSE:To perform torque balance control being stable even in acceleration and deceleration by judging whether the motor of main shaft and subshaft correspondence is in acceleration or in deceleration, and subtracting severally predetermined values from the output of the speed adjuster of the motor of main shaft and subshaft correspondence, and giving them to each torque adjuster. CONSTITUTION:A mode discriminator part 10 and subtracters 11A and 11B are provided to subtract the corrections A1, A2, D1, and D2 of acceleration and deceleration from the output of each ASR. As the corrections proper quantities are to be sought and set in advance. That is, the mode discriminator part 10 judges which of acceleration, constant velocity, or deceleration it is in, and if it is in constant velocity, it does not do especially, and if in acceleration, it outputs a signal ACC to close switches SW1, and gives accelerating torque corrections A1 and A2 to the subtracters 11A and 11B to subtract the output of ASR. If in deceleration, it outputs a signal DEC to close SW2, and gives accelerating torque corrections D1 and D2 to the subtracters 11A and 11B to subtract the output of ASR. Hereby, synchronized operation being stable even in acceleration becomes possible. |
