| 摘要 |
PURPOSE:To attain the stabilization of a control loop and the active attenuation of oscillation by dividing frequency into an area close to mechanical resonance frequency and the other frequency area and controlling respective areas separately. CONSTITUTION:The passing frequency band of a filter 7 is set up close to the mechanical resonance frequency F and the passing frequency band of a filter 6 is set up to a range from zero to a value close to the crossing frequency of a control loop. Consequently, a detected signal is separated into signals W1, W2 included in two frequency bands. Individual commands R1, R2 are respectively applied two bands as control command signals. Controllers 10, 11 input control errors E1, E2 in the bands separated by filters 6, 7 respectively, apply control compensation to respective errors to correct the errors to zero and output rotation control signals C1, C2. Then the signals C1, C2 are passed through filters 12, 13 having the same bands as the filters 6, 7 to obtain rotation control signals D1, D2 separated in respective bands. A rotation control signal C obtained by composing these signals D1, D2 is impressed to a rotation driving device 2. |
