| 摘要 |
PCT No. PCT/JP86/00010 Sec. 371 Date Sep. 8, 1986 Sec. 102(e) Date Sep. 8, 1986 PCT Filed Jan. 11, 1986 PCT Pub. No. WO86/04194 PCT Pub. Date Jul. 17, 1986.A servomotor velocity control system according to the present invention control velocity by using an observer for obtaining a sensed value of velocity while estimating motor load torque. When resolution of a rotary encoder is a problem in a region of low motor velocities, this is compensated for to improve the velocity sensing precision in the low-velocity region. In a region of high motor velocities, velocity processing is executed based on the output of the rotary encoder considering the processing time of a CPU. Use or non-use of the observer for obtaining the estimated value of velocity is selected in dependence upon the velocity of the motor.
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