| 摘要 |
PURPOSE:To obtain a constant torque controller capable of controlling ultrafine torque by compensating for the current command value of an absorption DC motor of the output shaft side based on the deviation between the set torque value of an input shaft and the actual torque value. CONSTITUTION:The torque is set so that the indicated torque value of a torque detector 5 becomes a target value by a current setting potentiometer 20. When the torque setting is completed, the output of a pattern differentiator 26 is applied as a signal to a timer 24 via a logic inverting element 25, and an analog memory 22 stores the torque value of the torque detector 4 by the timeup signal of the timer 24. An integrator 23 integrates the deviation between the set torque vlaue stored in the memory 22 and the detected torque value, thereby compensating for the current command value applied to a current controller 100. The integrating time constant of an integrator 23 is switched in response to the differentiated value of the rotating speed. |
