| 摘要 |
PURPOSE:To improve follow-up properties of a torque controller by correcting a quantity based on a current deviation using a moment of inertia of said torque controller, a friction torque coefficient, an armature inductance, an armature resistance and others. CONSTITUTION:A quantity of a current command value I multiplied by a value of armature resistance Ra and a quantity of a value differentiated with respect to the current command value I and multiplied by an armature inductance La are added to a quantity of a current deviation ES multiplied by a current servo gain. Further, a quantity obtained by said addition is made by a PWM amplifier and used as an applied voltage for a motor. In this manner, an armature current for a torque controller, that is, follow-up properties with respect to an output torque command can be improved even at a transient time and at a steady time. |
