| 摘要 |
PURPOSE:To enable production of desired torque by calculating the compensation amount of current phase and voltage based on a relation of the current phase and voltage with respect to the rotary speed of a servo motor then correcting a current command value. CONSTITUTION:A state detecting means M2 detects the rotary speed of a servo motor M1 which is employed, in a current compensation amount determining means M5, for estimating the positional delay of actual current from a current command value, and the phase of the current command value calculated through a current command value calculating means M3 is advanced by the amount corresponding to the delay through a current command value correcting means M7. Consequently, the phase delay of the actual current to the rotary position of the motor M1 is eliminated. Furthermore, a voltage compensation amount determining means M6 estimates voltage drop due to induced voltage and a current command value correcting means M7 increments the current command value correspondingly. By such arrangement, droppage of current due to induced voltage can be compensated and the current can be controlled such that desired torque will be produced. |
