Patent ID: 8909427

Claim:
A rotating element control system comprising: a rotating element rotatably disposed on a main body; a first measuring unit configured to measure an angular acceleration of the main body; a driving unit which drives the rotating element; a second measuring unit which measures a rotational speed of the rotating element; a transfer unit connecting the rotating element and the driving unit and configured to transfer a driving force to the rotating element at a gear ratio; a motion compensation unit configured to generate a compensation signal which removes an error component generated by the angular acceleration of the main body; and a stabilization control unit configured to control the driving unit based on the compensation signal and a difference between an stabilization input signal for controlling the driving unit and the rotational speed of the rotating element, wherein the compensation signal comprises a compensation torque signal calculated according to an equation, T m =−(N−1)J m ∝ h , to offset the error component generated by the main body, where N is the gear ratio of the transfer unit, J m is a rotational inertia mass of the driving unit and α h is the angular acceleration of the main body.