| 摘要 |
A zeroing method capable of preventing degradation of transient characteristics of a control system, attributable to provision of an observer, while enjoying the ability of the observer to eliminate a disturbance. An estimated disturbance (x) is determined in accordance with an actual current command (I-y') and an actual motor speed (v) by a disturbance estimation observer (5) which comprises four transfer elements (51 - 54) whose transfer functions (Kt/Jm, K1, K2/S, 1/S) are each determined by a corresponding one of a motor torque constant (Kt), and inertia (Jm) and parameters (K1, K2) of the system. When a position deviation amount is small, a gain-adjusted estimated disturbance (y') obtained in a gain adjusting means (4) by multiplying the estimated disturbance by a feedback gain of value "1" is subtracted from a current command (I), to thereby eliminate a static frictional disturbance. When the position deviation amount is large, the estimated disturbance is multiplied by the feedback gain of value "0" to render the observer to be inoperative, whereby degraded transient characteristics of the control system, due to the function of the observer, are prevented.
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