| 摘要 |
A system consists of adders/subtractors (1,2,3), an observer (4), a motor (5) and an I-P controller (6) which comprises an integral element K1/S and a proportional element K2. The speed of the motor (V) is controlled by a torque instruction (U), based upon the motor position (9), the motor current (I) and the estimated motor speed (U). The position data (8) from the rotary encoder is fed back into the integral element of the controller whilst the estimated speed (V) is into the proportional element. This arrangement eliminates the offset error in the torque instruction (U). |
