| 摘要 |
PURPOSE:To obtain the titled controller which can make accurate following operation even to slight error signals, by impressing a signal (dither signal) which vibrantly and slightly drives the body to be driven in both normal and inverse directions at the same amplitude upon the point where the current negative feedback signal is to be impressed and placing the body to be driven under the influence of the coefficient of dynamical friction. CONSTITUTION:A difference (position error signal) E between a position control signal A given from a numeric controller, etc., and a present position signal B detected by a resolver R is given to a position controlling section 1, and a difference (speed error signal) F between the output signal E' of the position controlling section 1 and a speed signal C detected by a tachometer generator TG is given to a speed controlling section (compensating circuit) 2, and then, a sum (motor control signal) H of a difference (current error signal) between the output signal F' of the speed controlling section 2 and an armature current D detected by a current detector inserted into an armature circuit of a DC motor M, and the output signal G of an oscillatory signal (dither signal) generator 5, is given to a current controlling section 3. Moreover, this sum H is amplified in power by a stage of power amplification 4 and drives the DC servomotor M. |
