| 摘要 |
PURPOSE:To prevent the effect of an excessive integrating operation upon normal operation, by a method wherein the value of integration in a compensating means forming a torque command is controlled by a set clamping value. CONSTITUTION:An adding circuit 1 outputs an error ER between the actual speed TSA of a servomotor 3 and a speed command Vcmd into a compensating circuit 2. The compensating circuit 2 supplies the error ER, inputted from the adding circuit 1 with a predetermined sampling period, to an adding block 21 having hold function and an integrating block 22 effecting P (proportional) action. An integration gain K1 is multiplied by the output of the adding block 21 in an integrating block 23 and the result of the operation is compared with a clamping value X1 in a block 24. An adder 25 operates the sum of a proportional term and an integral term and outputs a torque command to the servomotor 3. |
