| 摘要 |
<p>PURPOSE:To cancel a friction torque given to an antenna and thereby to make it possible to hold down the occurrence of a deviation by a method wherein a signal for generating a compensation torque, which is computed from an angular acceleration signal and a current signal, is added to an input of a servo amplifier. CONSTITUTION:When an angular acceleration detector 6 and a current detector 9 input an angular acceleration signal AL and a current signal IL to an arithmetic circuit 14 respectively, the circuit 14 computes a compensation command current IT by an equation IT = 1/KT(KTIL - JAL) (where KT denotes a contact of a motor torque and J a moment of inertia of a radar antenna). Such an integrating operation as in a general observer is not contained in this computation, and therefore the compensation command current IT for canceling a friction torque is obtained instantaneously. Since an adder 15 adds this command current IT to a current command IR, a compensation torque is generated immediately in a motor. Since the friction torque is canceled constantly by the compensation torque in this way, any deviation due to a sudden change in the friction torque does not occur.</p> |
