| 摘要 |
PURPOSE:To improve resolution at the time of a low speed, by performing arithmetic on the estimated speed of a servo-motor through discretely fed-back speed signal, and by obtaining a storage gain in inverse proportion to the estimated speed. CONSTITUTION:So far as a speed controller is concerned, speed command is fed to a compensating circuit 2 via an adder circuit 1, and a servo-motor 3 is driving-controlled. To the adder circuit 1, an estimated speed obtainable by estimating an actual speed from the servo-motor 3 is fed back, and by the estimated speed, and arithmetic is performed on an error, and output for a speed deviation is directed to the compensating circuit 2. On the compensating circuit 2, its storage gain is varied and said estimated speed is varied. Then, an observer 4 for performing arithmetic on said estimated speed through actual speed signal W from the servo-motor 3 and torque command T is set, and said storage gain in inverse proportion to the estimated speed is set. This setting is performed by a gain setting unit 5. As this result, the resolution of speed signal at the time of a low speed can be improved. |
