| 摘要 |
PURPOSE:To obtain a highly stabilized controlling system by minimizing disturbance noise amplitude caused by quantization error, by conduction accurate observation of estimated speed in operating system of a pulse encoder. CONSTITUTION:A motor is controlled by a driving system which has a speed (v)- to-operating amount (a) transmitting function of such an integration characteristic as v/a=omega/s. In this motor, a pulse encoder type speedometer 1 is directly connected to the machine, and a quantization level at a time nT of the speedometer 1 is taken by a counter 2 as (Cn), and a quantization level at a time (n-k)T is memorized by registers 9 and 10 as Cn-k. And, an operating amount at a time (n-k)T is memorized by registers 12 and 13 as a n-k. And, an estimated speed Vn is sought by making an operation of Equation I on the basis of respective outputs of circuits 2, 9-13, and an operating amount an is calculated by checking an estimated speed Vn against a target value at a comparator 4. |
