| 摘要 |
PURPOSE:To realize a servo system having high response and high precision by detecting driving torque by the quantity of the elastic displacement of an elastic system coupling a driving-torque generating section and drive load and phase-compensating the detecting value and feeding back the value to a torque control loop. CONSTITUTION:A motor 5 and load 10 are coupled by an elastic body 9, and torque tau is detected by an elastic-displacement quantity detector 13 and an amplifier 14. The torque detecting value tau is added to a bandpass filter 15 for center frequency fn (the natural vibration frequency of a servo system) and a phase-lead circuit 16, thus acquiring a compensatory signal W. The compensatory signal W is added to a deviation between a torque command value taur obtained by a position loop controller 1 and a speed loop controller 2 and the torque detecting value tau, and transmitted over a current loop controller 3. |
