| 摘要 |
PURPOSE:To enable to detect the speed of a servo motor at a low speed rotation time and to perform high speed responsiveness at a high speed rotation time by assuming the instantaneous speed from the armature current and the armature voltage at the low speed rotation time and counting the period of the position detecting pulse at the high speed rotation time to obtain the instantaneous speed. CONSTITUTION:When position detecting pulses P1, P2 do not arrive during the period of a sampling pulse, it is judged as a low speed, and a processor 108a calculates the actual speed (v) on the basis of the armature voltage command (u) obtained by the armature current (i) and the current loop calculation. When one or more position detecting pulses are inputted during the one sampling period, the middle and high speeds are discriminated by the number of the pulses. The actual speed calculated on the basis of the armature current and the armature voltage command is corrected by the actual speed calculated by the sampling period T0 to obtain the actual speed (v) at the middle speed. The actual speed (v) is calculated on the basis of the sampling period T0. |
