To reduce a control error caused by sliding generated on a rolling surface in a drive device which outputs a driving force of a motor via a transmission mechanism which transmits the driving force by friction of the rolling surface between an input rolling element and an output rolling element.
Load torque T transmitted by the transmission mechanism is calculated from an current I supplied to the motor, and a motor rotational speed ω1 (load torque calculation section 30). A slip ratio and a slip velocity slipω1 are determined from the calculated load torque T by using a previously determined relation between the load torque T and the slip ratio slip. The error caused by sliding can be reduced by adding thereof to the target speed command value.
MIZUNO SACHIHIRO
KITAKADO YOSHIMI
DENSO CORP
JPH11341854A | 1999-12-10 | |||
JP2002078289A | 2002-03-15 | |||
JPH0454358A | 1992-02-21 | |||
JPH1053378A | 1998-02-24 | |||
JPH0571629A | 1993-03-23 | |||
JPH0439450A | 1992-02-10 | |||
JPH05257536A | 1993-10-08 |
Jun Ishida