Patent ID: 6252369
Filing Date: 2001-06-26
Classification: G05B,Y10S

Abstract:
A motor speed controller comprising:a speed-controlling means having a proportional operating means, which controls the angular velocity of a motor;a modeled equivalent rigid body model in a first order lag system in which viscos friction is made into a time constant;a first compensating means for carrying out a proportional operation;a second compensating means for carrying out an integration operation;a means for adding torque signals of a motor, outputted from the speed-controlling means, output of the first compensating means, and output of the second compensating means, inputting the sum thereof into the equivalent rigid body model, and for inputting a differential signal obtained by subtracting the output of the equivalent rigid body model from the speed signals of the speed-controlling means into the first and second compensating means; anda means which defines a proportional gain of the first compensating means in terms of the product of the first gain (.zeta..sub.s) and the second gain (.omega..sub.s), defines an integration of the second compensating means in terms of a square of the second gain, multiplies the proportional gain (Kv) of the proportional operating means of the speed-controlling means by a band setting coefficient (.alpha.) established in advance, and makes it into a feedback input to the second gain (.omega..sub.s),wherein output of the equivalent rigid body model is made into a feedback input to the speed-controlling means as a detected speed.