| 摘要 |
PURPOSE:To eliminate the occurrence of a stationary error in an estimated speed value even at the time of application of a disturbance torque by employing the differentiated value of the estimated value of the position as an estimated speed value. CONSTITUTION:A speed estimating device 4 has a motor and integrators 11a, 11b as a model of a rotary angle detector, and inputs the output X of a rotary angle detector 3 of a motor 2 and a torque generated at the motor 2 by a speed controller 1. The input of the integrator 11b is used as an estimated speed value, and the output of the integrator 11b is used as a presumed rotary position. An estimated position error is calculated by an adder 13c, input to adders 13a, 13b through gain amplifiers 12a, 12b, and feedback corrections are added as a model to the integrators 11a, 11b. Thus, a stationary error is not generated in the estimated speed value even at the time of application of a disturbance torque. |
