| 摘要 |
PURPOSE:To improve response to a speed command by introducing a virtual speed control system and dividing a speed control system. CONSTITUTION:A closed loop constituted by backward connecting a control block 10 for a reference model to a speed control amplifier 10 consisting of a PI element prepares a current command i*s on the basis of an angular velocity command Wr*. The current command i*s is converted into a current command i*s1 by a block 12, and transmitted over a control block 13 (a transfer function section for a motor-current control system and a mechanical system). Gains GB are selected so that the response of actual angular velocity Wr to the current command can be made to approximate by a time constant TM. Gains GF are determined so that GF/GB is equalized to the stationary gains KM of the reference model. Accordingly, the response to the change of a command value can be improved. |
