| 摘要 |
PURPOSE:To always control an optimum response even if a load has a varying inertial moment by superposing a sine wave signal on the output of a speed regulator, and setting the gain of the regulator. CONSTITUTION:A sine wave having a predetermined frequency and a predetermined amplitude is generated from a signal generator 8, and superposed on the output of a speed regulator 6, thereby varying a motor driving torque. Thus, the presumed torque tauL of an observer 9 is varied, the set value TM' of the observer is varied by a control constant calculator 10, and the torque tauL is obtained by the observer 9. The moment of a machine system is accurately measured by these operations, and the gain of the regulator 6 is set on the basis of the value. Thus, even if a load has a varying inertial moment during its operation, it can be always controlled with an optimum response. |
