| 摘要 |
PURPOSE:To stabilize the control by starting a new duty calculation when the measurement of a speed is started, thereby calculating twice with the same measured value. CONSTITUTION:Which motor of DC motors MA, MB, MC is measured at its speed is judged, and when the motor MA is, for example, measured, whether the measurement of the speed of the motor MA is started or not is judged, whether the calculation of the duty of the motor MA is finished or not is, when started, judged, and the calculation of the duty is executed only when not finished. When finished, the measurement of the speed of the next motor is waited. The measurements of the DC motors MA, MB, MC are sequentially executed, and the duty calculation of the motor MB, and the duty calculation of the motor MC, and the duty calculation of the motor MA are correspondingly performed. |
