| 摘要 |
PURPOSE:To improve a follow-up characteristic as to a command of output torque by compensating for a difference between a current specifying value and an armature current based on moment of inertia, frictional torque factor, armature inductance, armature resistance, torque constant, induction voltage constant and so forth of a motor. CONSTITUTION:An amount obtained by multiplying a current command value I by an armature resistance Ra, an amount obtained by differentiating the value I and then by multiplying it by an armature inductance La, and an amount obtained by multiplying the value I by a first-order lag component 1/(F+JS) including a motor shaft conversion friction factor F and a motor shaft conversion moment of inertia J and then by multiplying it by a product of a motor torque constant KT in a torque control system and an induction voltage constant Ke are added to an amount obtained by multiplying a current difference between the value I and an armature current by a current servo gain K. The amount obtained thereby is converted to a control voltage by a PWM amplifier and applied to a motor controlled by a torque control system. In this way, the follow-up characteristic as to the torque command will be greatly improved. |
