| 摘要 |
PURPOSE:To prevent degradation of control performance, by carrying out predicting operation of angle of a current command at next sampling time point based on angular information of current commands at previous sampling interval and current time point. CONSTITUTION:An operated angle A(theta) of current command value is doubled in an adding section 21g then subtracted of angular information C(thetar-rs) operated in previous sampling time and stored in a data storage section 21f in a subtracting section 21h so as to carry out predicting operation of an angle A' (thetar+thetars) to be operated at next sampling time point. Furthermore, data stored in the data storage section 21f is updated to an angle A of current current command in preparation for next operation. Consequently, the angle of current command value after one sampling period can be predicted through addition/subtraction for reducing processing load of a microcomputor. |
