| 摘要 |
PURPOSE:To suppress an influence to the load of a detrimental torque ripple generated in a reduction gear by adding a correction signal for cancelling a vibrating force generated from the gear to a command value. CONSTITUTION:A band pass filter 9 obtains the vibration component of a speed or an acceleration with the frequency band of a torque ripple generated in a harmonic driver as a passing band. A calculator 10 calculates a correction signal for suppressing the vibration of a load due to a vibrating force generated in a reduction gear on the basis of the vibration component theta3 and the speed command value omegar of a motor. This correction signal is added to the torque command value taur. Accordingly, the influence of a detrimental torque ripple generated in the gear to the load is largely suppressed, thereby providing high accuracy and high acceleration of a motor-driven machine having the reduction gear. |
