METHOD OF CONTROLLING THE SPEED OF A SERVOMOTOR

摘要

The number (P2k(m-1)-k+1,---,P2km) of feedback pulses are detected and stored at intervals (TS/2k) equal to the interval of speed evaluation (TS) divided by a multiple of 2. This number of feedback pulses is utilised to calculate the number of pulses (A) for each interval of speed evaluation and the number of pulses (B) appearing between the midpoint ((m-1)TS-TS/2) of the previous interval of speed evaluation and the midpoint (mTS-TS/2) of the current interval of speed evaluation. The results (A and B) are used to evaluate the actual speed of the servomotor.