| 摘要 |
PURPOSE:To keep the motor speed at a target speed for sure and without oscillation by estimating a command value of the target speed for every control period, by estimating the present speed for every control period and by estimating a target speed depending on the deviation of the estimated value for every control period. CONSTITUTION:When a command value of a target speed is received from a main control section, this command value is estimated and let the estimated value denote a tentative target position. At the same time, the present speed is estimated to denote the present position. A tentative position deviation is then calculated which is the difference between the tentative target position and the present position. In correspondence to the tentative position deviation, a tentative target speed is calculated whose value increases from zero and whose rotating quantity for one control period gets to smaller value than the tentative position deviation. Further, the speed deviation is calculated which is the difference between the tentative target speed and the present speed, and the power corresponding to this deviation is supplied to a motor 2. |
