| 摘要 |
PURPOSE:To improve torque control characteristic, by adding the torque correction signal of the acceleration of a motor multiplied by the moment of the inertia of the motor, to torque command, and by setting the signal and the command to be the torque command signal of the motor. CONSTITUTION:The rotational speed omega of a DC motor 1 detected by a tachometer generator 4 is differentiated, and an acceleration domega/dt is computed, and this is multiplied by the moment K of the inertia of the DC motor 1, and an inertia torque compensation value Itau is obtained. Then, the inertia torque compensation value Itau and torque command I*tau are added to each other, and input for torque control signal I*tau1 to a motor control circuit 3 is provided. Output torque I converted to current is fed back to the input side of the motor control circuit 3. As a result, constant torque can be always controlled. |
