| 摘要 |
PURPOSE:To eliminate noise included in the output of a controller at a high attenuation rate by subtracting the output of a noise estimator which estimates the noise component from a true estimated value of a speed signal of the output of an observer. CONSTITUTION:When a speed signal Vf from a speed signal generating circuit 5 is inputted to a speed observer 6, high band noise is suppressed. The signal Vf from the circuit 5 and an estimated speed feedback signal from the observer 6 are inputted to a noise estimator 7, and the noise estimator 7 subtracts the latter from the former to output an estimated noise value. A subtractor 8 subtracts this estimated noise value from an estimated speed feedback signal of the observer 6 to feed back the estimated speed feedback signal, where the noise component is eliminated approximately completely, to the second feedback point. The output of a controller 1 is compared with a feedback position signal from a position feedback gain circuit 4 and the estimated speed feedback signal at the second feedback point, and the results are applied to a controller 30. By this device, not only the speed feedback signal has the noise eliminated by the observer 6 but also the noise remaining in the output of the observer 6 is eliminated with the output of the estimator 7. |
