| 摘要 |
PURPOSE:To improve frequency response characteristic by correcting a current command by a deviation between an acceleration signal and an estimate acceleration as a model criterion of a control system in a speed controller for a servo motor, providing a limiter and limiting the current of the motor. CONSTITUTION:In a speed control loop having the sum of a value obtained by integrating a deviation signal between a speed command V(S) and a motor speed W(S) by an integration term K1S and a value obtained by feeding back the speed W(S) through a proportional term K2 as a torque command T(S), a criterion model alpha(KT/JM), a differentiating operator S, a correction gain KA are provided, and a limiter for limiting a current to a predetermined value or less is further provided. That is, the acceleration of the motor is fed back by the operator S, the acceleration is estimated with a current command as a criterion, compared with an acceleration signal, and the command T(S) is corrected. Thus, the frequency response of a control system is improved. An inverter and a motor are protected against an overcurrent by the limiter. |
