| 摘要 |
PURPOSE:To perform a stable positioning without accompanying overshoot and vibration by inputting a command torque command to an exciting phase for generating a torque in the direction of rotation of a rotor and by inputting a damping function circuit output for generating an output approaching to zero, as the torque command becomes larger, to an exciting phase for generating a braking torque. CONSTITUTION:The title apparatus is the same as that used heretofore in successively demanding commands ranging from a position command Pcmd to a torque command Tcmd (Td) to energize exciting phases arranged in the forward direction but differs form the latter apparatus in braking also a phase unexcited heretofore by the output from a damping function circuit (At) 4. As shown in the expression (1), At 4 is a divider, where an output approaches to zero as Td becomes larger. According as the rotor electrical angle of a servomotor 8 and Td are positive or negative, the output of a switching signal generator 11 opens and closes transistors (Tr) 12, 13 of switching apparatus 5A-5C, and outputs as an exciting current command the output (Refer to the expression 1) from Td or At 4 outputted to the motor by a speed loop control process to prevent the overshoot and vibration at the time of positioning. |
