| 摘要 |
<p>PURPOSE:To perform digital processing for both a position loop and a speed loop by processing a speed signal digitally by a program started synchronously with feedback pulses from an encoder. CONSTITUTION:The servo processing program is started synchronously with encoder pulses e and the number of encoder pulses e is read out of a counter 12 to calculate the output (= current counted value-last counted value) of a differentiator 14. Then, a speed feedback signal v (= f X constant Kv) is calculated, the output d (= speed command value c + last integrator output - f) of an integrator 16 is updated, and a buffer 17 is cleared. Then, a speed error epsilon (=d-V) is calculated and outputted to a digital/analog converter 4. The value off the speed feedback signal v is set to zero a specific time tau and the output d is outputted to the digital/analog converter 4.</p> |
