| 摘要 |
PURPOSE:To make it possible to change over the smooth speed and tensile force control by feeding forward the load torque estimate value calculated from the motor rotating speed and current value to the output value of the speed control unit. CONSTITUTION:A speed regulator 5 outputs the current command value i* in accordance with the deviation of the speed actual value n from the speed command value. The current command value i* is limited to below the tensile force setting value i r by a limiter 6. A current regulator 7 controls a power converter 1 in accordance with the deviation of the current actual value i from the output of the limiter 6. An estimation computing element 9 estimates the load torque from the speed actual value n and current actual value i, so that the current estimate value is obtained equivalent to the load torque, which is then added to the current command value i*. Thus the establishment of tensile force in changing over from the speed control to the tensile force control can be heightened and the speed vibration suppressed. |
