| 摘要 |
PURPOSE:To improve the normal accuracy and the stability of a speed controlling characteristic compensating system by adding a phase lead compensation type speed controller in cascade with a proportional integration compensating type speed controller. CONSTITUTION:An acceleration command 13 is obtained by a PI compensating type speed controller 2, and a phase leading compensating type speed controller 6 with the difference between a speed command 10 and a speed feedback signal 11 as an error signal 12, commonly applied to a DC motor 4 and a linear motor 5, a load 3 is driven by a drive torquen 14 obtained by synthesizing the torque 14A generated from the motor 4 and the torque 14B generated from the motor 5, thereby obtaining the prescribed speed 15. In this case, it is compensated to lead the phase in the vicinity of the crossing frequency of the gain of a circulation transfer function in the prescribed amount by the controller 6. As a result, the phase margin is increased, thereby improving the stability. |
