| 摘要 |
PURPOSE:To enable the command gain of a DC motor with gravity to be controlled, by separately setting the command gain in the gravity direction and the command gain in the anti-gravity direction. CONSTITUTION:A deviation counter 2 outputs digital deviation P0 between a command pulse number from a micro computer 1 and a feedback pulse number from a rotary encoder 9. The digital deviation P0 is read by the micro computer 1, and the input of the digital deviation P0 multiplied by a proportional constant (weight constant) is directed to a D/A converter 3. In this case, the micro computer 1 sets different weight constants in view of different cases, namely, the case that a DC motor 8 is worked in the gravity direction, and the case that it is worked in the anti-gravity direction. A differential amplifier 6 compares them with analog voltage values from the D/A converter 3 and an F/V converter 10, and feeds the error voltage back to a driving circuit 7 to control the DC motor 8. |
