| 摘要 |
PURPOSE:To feed a speed back with excellent precision on the basis of position information by fetching displacement twice at different fetch timing within a specific time, and estimating and feeding the displacement and speed back on the time interval. CONSTITUTION:The rotational position of a rotating body 502 is detected by a reversible counter 504. A read of position data as displacement is made twice within one sample time tau. The data is read in a sampler 505 at points alphatau and betatau synchronously with the timing signal of a timer 506 and recorded in a memory 507. Consequently, a speed estimation part 508 estimates the speed at the time of the completion of a sample section, and a displacement estimation part 509 estimates the displacement. A manipulated variable determining arithmetic part 510 calculates the manipulated variable in the following section on the basis of the estimated displacement and speed, and a current output part 511 receiving it flows an armature current corresponding to the manipulated variable to a DC motor 501 at the time of the sample section completion synchronously with the timing signal of the timer 506. |
