| 摘要 |
PURPOSE:To accelerate the controlling response by integrating the deviation between an acceleration feedback signal and an acceleration signal, adding them to the current reference as the current reference of the current control circuit. CONSTITUTION:An acceleration/deceleration current calculator 27, a pneumatic resistance current calculator 28, and mechanical friction resistance current calculator 29 respectively calculates and outputs current references Ia, Iar, Im proportional to the torques in accordance with an acceleration signal 106, an acceleration increasing rate signal 104 and an acceleration reduction rate signal 105. The deviation between an acceleration feedback signal 108 and an acceleration signal 106 is integrated by an acceleration compensator 22, the output of which is added as the compensation component of controlling the acceleration by an adder 34 to the torque current references Ia, Iar, Im. The output of the adder 34 becomes the current reference signal 110. In this manner, the acceleration change rate can be controlled, thereby obtaining the rapid acceleration control response. |
