Title:
CONTROLLER
Document Type and Number:
Japanese Patent JPH05100709
Kind Code:
A
Abstract:
PURPOSE:To prevent torsional shaft vibration smaller than the detecting resolution of speed signal by utilizing a torque meter signal after passing it through a band pass filter. CONSTITUTION:A deviation (e) between a command input R and the output omega(S) of a part of a state variable is given stabilization compensation by a PI controller 1, etc., and its output becomes Tchi(S). The torque command T*(S) is multiplied by a torque generation coefficient KI, and is impressed to a motor 2 by passing it through a power actuator. A feedforward compensating part 4 inputs the set input R, and adds its output to stabilized compensated output. On the other hand, the outputs of an equivalent disturbance compensating part 5 to input the torque command T* (S) and the motor revolving speed omega(S) and the band pass filter 6 to input torque meter output TT/M(S) are added to the stabilized compensated output. Accordingly, follow-up ability for the change of a command and robustness against the variation of load and the variation of a parameter can be secured, and in addition, the steady and small torsional vibration can be prevented.
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Inventors:
KOBAYASHI HIROKAZU
FUJIKAWA ATSUSHI
FUJIKAWA ATSUSHI
Application Number:
JP26068391A
Publication Date:
April 23, 1993
Filing Date:
October 08, 1991
Export Citation:
Assignee:
TOYO ELECTRIC MFG CO LTD
International Classes:
G05B11/32; G05B13/04; H02P25/098; H02P29/00; H02P29/40; (IPC1-7): G05B11/32; G05B13/04
Domestic Patent References:
| JPH03155383A | 1991-07-03 | |||
| JPS62281780A | 1987-12-07 | |||
| JPS62207187A | 1987-09-11 |
Attorney, Agent or Firm:
Akihide Sugimura (5 outside)
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