| 摘要 |
PURPOSE:To stably rotate a load accurately at a speed exceeding a resonance speed by applying a disturbance torque to a target torque in a reverse phase to correct the target torque. CONSTITUTION:The accelerations of a load 6 and a motor 2 are measured by acceleration detectors 8 and 10, respectively, and torques Fm and Ff are obtained by acceleration/torque converters 12 and 14, respectively. A target torque Fi is subtracted from the sum, and the difference is applied in reverse phase to the target torque Fi. The torque to be supplied to the motor 2 consists of the torque Fi and a component -Fg for suppressing a disturbance torque, the component -Fg cancels the disturbance torque Fg to drive the load 6 on target rails. Thus, the torque supplied to the motor 2 becomes equal to the torque Fi.
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