| 摘要 |
PURPOSE:To increase the speed controlling range by providing means for counting a pulse train proportional to the speed at the prescribed sampling period, speed predicting calculating means for inputting the value and predicting speed correcting means. CONSTITUTION:A pulse train from an encoder 4 is counted by a counter 6 at the prescribed sampling period, contained in a register 7, read out by a microcomputer 1, compared through a speed predicting calculator 9 and a speed correcting circuit 10 with a command speed, inputted to a proportional integrator/ differentiator 8, thereby driving a motor 3 through a drive circuit 2. The speed when the next command signal is outputted from the primary and secondary differentiated value of the motor acceleration is predicted, corrected by the deviation between the speed sampled before one and the predicting speed, and controlled. Accordingly, the responsiveness can be improved, and the controllability at low speed can be stabilized, thereby increasing the controlling range. |
