| 摘要 |
PURPOSE:To simplify the arithmetic operation of observers by providing a motor part and a machine part with individual observers in which the angular displacement of the machine part computed through the estimate of the load disturbance of the observer of the motor section is regarded as a true value. CONSTITUTION:Observers are composed of a section estimating the speed of a motor and a section estimating the tip speed of a machine, which are separated from each other. By signal(a), a constant ratio as the estimate of the speed of the motor is fed back, and by signal(b), a constant ratio as the estimate of the speed of the machine is fed back. By regarding the signal(c) of disturbance torque as a true value, the true value of the tip speed(angular displacement) of the machine is to be formed with signal(d). As a result, the composition of the observers can be simplified, and the speed can be estimated without the need of complicated arithmetic operations. |
