| 摘要 |
PURPOSE:To obtain a detected value of a position (or angle of rotation) of a body between pulses, estimating calculating using the initial value of position of the body at the time of generation of pulses, and estimated value of a force applied to the body, etc. CONSTITUTION:When a digital velocity command Vd is introduced into a micro- computer 213, it operates to calculation according to a controlling algorithm to issue a digital current command id. An electric motor 201 is rorated by this current command and when a pulse generator 202 generates pulses, a position of a body, such as a moving body, etc. driven the motor 201 is obtained, and the initial velocity of the body in a range up to the next pulse generation is obtained by the calculation. A position of the body located between pulses can be obtained by calculation from the position of the body at the time of generation of these pulses and initial velocity, etc.
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