| 摘要 |
PURPOSE:To omit adjustment of a zero point, to secure accuracy at the time of low speed and to make it possible to perform high speed response, by computing an angle based on an absolute signal, performing angle control, and computing the time of the period of an incremental signal. CONSTITUTION:An encoder 2c outputs an incremental signal g1 and an absolute signal g2 at the same time. An angular speed computing means 4 computes an angle based on the absolute signal and controls the angle. A periodic time computing means 8 computes the time of the period of the incremental signal. A difference computing means 5 samples the absolute signals and computes the difference. At the time of low speed, the periodic time is outputted from a switching means 9. At the time of high speed, the difference is outputted from the switching means 19. The speed is computed in a speed computing means 6 based on the periodic time or the difference from the switching means 9, and the speed is controlled. |
