| 摘要 |
PURPOSE:To prevent an accident of overshoot caused by a limiter circuit and saturation by changing the output of an integral amplifier in a speed control circuit to always limit the output to a value equivalent to the load torque and viscous resistance. CONSTITUTION:As of time T23, the output signal PA of a linear amplifier 202 is zero, and the output torque command tau* of a speed control circuit 200' is equivalent to the output signal I'A of an integral amplifier 203 and a limiter circuit 204'. The output of the limiter circuit 204' is limited to the output tau*LD of a conversion circuit 904, therefore, the output of the speed control circuit 200' is also tau*LD. While the output tau*LD and torque, which is the estimated values of load torque tauL and of the viscous resistance tauD of a motor and a load machine and equivalent to the output tau*LD, are transmitted by a torque generator 400, the speed of the motor is kept constant. That is, after the time T23, the speed of the motor is constant and no overshoot is caused. |
