JPH044787A - Speed controller for moving body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device that performs periodic control such as a speed control device for a moving body that undergoes periodic speed fluctuations, and in particular, The present invention relates to a control device that needs to suppress the speed of a VTR motor, such as a speed control device for a VTR motor.

[Prior Art] It is desired that the speed of an active motor for a VTR (video tape recorder) be constant. If there is speed fluctuation (uneven rotation, speed ripple, torque ripple), the image will be distorted and the reliability of the VTR will be affected.

Quality will be significantly compromised.

Conventionally, this type of device has mainly used a DC motor, but in recent years, brushless motors, whose speed can be freely and easily changed, are increasingly being used.

Brushless motors do not have mechanical brushes, so various problems caused by abrasion of brushes and commutators or abrasion powder are eliminated. However, in 120-degree energized brushless motors, the number of magnetic flux intersections of the energized coils is higher than that of the rotor. This varies depending on the position, and this causes torque ripple, resulting in uneven rotation (speed fluctuation) during operation.

Now, if the magnetic flux crossover number of the drive phase coil is K(θ) (θ is the position W of the moving body), the generated torque is K(θ)i (i is the current flowing through the coil), and when the current is constant In case, K(θ
) generates torque ripple in proportion to

This torque ripple becomes a disturbance and causes speed fluctuations.

From the above, speed fluctuations have periodicity with respect to the rotational position of the motor, and Japanese Patent Laid-Open No. 1-218380 discloses a technique that focuses on this property and corrects speed fluctuations. This technology extracts the characteristics of speed fluctuations by Fourier series expansion, performs proportional/integral control calculations so that the extracted values become zero, and then inversely transforms the output of this calculation into a coil using a signal. Change the flowing current to correct speed fluctuations.

[Problems to be Solved by the Invention] The technology described in the above publication requires an expensive arithmetic device that can perform a large number of multiplications or additions at high speed when performing Fourier series expansion and Fourier inverse transform. , and the problem is that it takes a lot of time to process.

It is an object of the present invention to further simplify calculations so that they can be executed with an inexpensive calculation device and eliminate the need for an expensive calculation device when extracting characteristics of speed fluctuations and creating a speed fluctuation correction signal.

[Means for Solving the Problem] In order to achieve the above object, the present invention provides an orthonormal function that has characteristics very similar to the trigonometric function system used in Fourier transform, and whose value is a step function value. By using a certain function system (for example, a Walsh function when using binary step function values), a speed fluctuation correction signal is created without the need for an expensive high-speed calculation device, a speed detection means for detecting the motion speed of the moving body; a speed control means for generating a current or a voltage command from a speed detection signal and a speed command signal obtained from the speed detection means; A speed control device for a moving body, comprising a drive means for changing the motion speed of the moving body, wherein the speed control means generates a speed error signal from the difference between the speed detection signal obtained from the speed detection means and the speed command signal. a step function generating means for generating a step function value, and a speed error fluctuation component by integrating the multiplication value of the function value by the step function generating means and the speed error signal by the speed error detecting means. The present invention includes a fluctuation component detection means for detecting a fluctuation component, and a correction signal creation means for creating a speed error correction signal by multiplying a speed error fluctuation component by the fluctuation component detection means and a function value by the step function generation means, and a correction signal generation means for creating a speed error correction signal. This is what is output.

[Function] In the above configuration, if the function generation means generates the values -1, 0, and 1 as digital values, in the multiplication by the fluctuation component detection means and the multiplication by the correction signal creation means,
Multiplication by 1 does not require any calculation, multiplication by 0 can be achieved by substituting 0, and multiplication by -1 can be achieved by inverting the sign. Therefore, it can be executed with a simple arithmetic device and does not require an expensive arithmetic device.

[Example code] Examples of the present invention will be described below.

A first embodiment of the invention is shown in FIG.

FIG. 1 is a block diagram showing the entire system.

The configuration of the first embodiment will be described below.

In this embodiment, the moving body is a brushless motor, and includes a microcomputer 9 as a speed control means, a motor 8, and a magnetic pole position detector 31 that detects the position of the rotor of the motor 8.
It includes a motion part 1 which is a driving means, and a speed detection circuit 6 and a speed detector 5 which are speed detection means.

The motor 8 may be either a rotary type or a linear type, and
It doesn't matter if there is a brush or not, but brushless is more convenient.

Although the internal configuration of the motor 8 is not shown, the brushless motor is configured to electronically detect the position of the rotor and to flow current to two phase windings selected according to the position of the rotor. has been done.

The magnetic pole position detector 31 detects the position of a rotor (not shown) of the motor 8. The output of this magnetic pole position detector 31 is used to switch the phase current of the motor 8.

The speed detector 5 consists of an encoder attached to the rotating shaft of the motor 8, and outputs pulses. As a speed detector,
It is not limited to an encoder, and a frequency generator, tacho generator, pulse generator, etc. may also be used.

The speed detection circuit 6 is composed of, for example, a counter, and calculates the total number of pulses or the interval between pulses based on the pulses detected by the speed detector 5 within a certain sampling time, and generates a speed detection signal. The speed signal Nf is
Output.

The drive unit 1 includes an automatic current adjustment circuit 2, an inverter 7,
It is composed of a current transformer CT.

Inverter 7 is a driver that drives motor 8 .

The inverter 7 usually has three positive and three negative arms using six switching elements, and its size can be changed.

The automatic current adjustment circuit 2 detects the difference from the current command based on the current detection value obtained by the current transformer 4, and performs feedback control. When high precision motor control is not required,
The automatic current adjustment circuit 2 and the rectifier transformer 4 may be omitted.

The speed control means 3 is composed of a microcomputer 9 and a speed detection circuit 6.

The speed detection circuit 6 and a speed comparison circuit 51 in the microcomputer 9, which will be described later, constitute speed error detection means.

The microcomputer 9 processes the speed signal Nf, which is the output signal of the speed detection circuit 6, and outputs a current command to the automatic current adjustment circuit 2.

The microcomputer 9 has the configuration shown in FIG. That is, it includes a calculation unit (CPU) 38, a D/A converter 34, and a storage unit 35.

The storage unit 35 includes a ROM 36 and a RAM 37.
36 stores an operation program for the CPU 38, a speed command signal Ns, and a table of Walsh functions.

The CPU 38 receives the speed signal Nf from the speed detection circuit 6, compares it with the speed command signal N stored in the ROM 36 of the storage section 35, and calculates a speed error signal.

Next, a speed error correction signal Ic is created based on the speed error signal Ne thus calculated.

Then, this speed error correction signal Ic is sent to the storage section 35 at any time.
The data is stored in the RAM 37 of the computer and sequentially updated to the latest data.

In the first embodiment, the speed command signal Ns is stored in the ROM 36, but the invention is not limited to this.

It may be given from outside.

Note that the microcomputer 32 and the speed detection circuit 6 are
It is also possible to integrate the automatic current adjustment circuit and the inverter into a single chip.

It is useful to make it into an IC in this way.

Next, various functions realized within the microcomputer 9 will be described based on FIG.

FIG. 3 is an overall block diagram showing the speed control device and motor of this embodiment, focusing on the functions within the microcomputer 9. Note that the magnetic pole position detector 31 and the current transformer 4 are not shown.

Next, an overview of the operation will be described.

Based on the pulses obtained from the speed detector 5, the speed detection circuit 6 outputs a speed signal Nf.

The speed signal Nf is taken into the microcomputer 9. In the microcomputer 9, a speed command signal Ns from the ROM 36 is processed by a processing method using software.
A speed error signal Ne is calculated by the speed comparison means 51 from the difference between the speed signal Nf and the speed signal Nf from the speed detection circuit 6, and based on this speed error signal Ne, the speed error is corrected in the portion shown by the broken line in FIG. Create signal Ic.

(Left below) Then, the speed error signal Ne processed twice by the proportional control means 53 and the above-mentioned speed error correction signal Ic are added by the command signal generation means 52 to generate the current command Is. Output. Based on this command, the drive unit 1 outputs a current that generates the necessary torque.

Here, a speed fluctuation control algorithm related to the present invention will be described.

In general, the speed signal Nf that fluctuates in period 1 can be developed according to the following equation.

Nf (θ) = n, +Σ (a, cal (n, θ) + b,
5al (n, θ)) - (1) nw However, H8: / Nf (θ) dθ - (2) a = fNf (θ) cal (n + θ) dθ = - (3) b
W=fNf(θ)sal(n, θ)dθ −=(4)
n=1.2,3. ... Here, no is the DC component of the speed signal Nf, a, is the strength of the correlation between the speed signal Nf and the cosine Walsh function (cal(nt θ)) of the number of alternations, and b is the speed 5ine Walsh function (s
al(nt θ)).

The graph of cal(rz θ) and 5al(n, θ) is
=1°2.3 is shown in Fig. 7.

Note that the number of alternations n indicates half the number of zero points in the interval of 0≦θ≦1.

In the first embodiment, when N5=no, that is,
A case will be described in which the DC components of the speed signals N and f match the speed command signal Ns, but the present invention is not limited to this.

In FIG. 3, since N5=n, Ne=Nf−N
s=Nf−no holds true. That is, (3), (
Only equation 4) accounts for speed fluctuations.

(Left below) Furthermore, since J'' nocal(n+θ)dθ=O f n, 5al(n, θ)dθ=0 holds in cal(rz θ) −5al(n, θ), (3), ( 4) The formula is as follows.

a,=f Ne(θ)cal(n+θ)dθ −(
3A)b,=fNe(θ)sal(nyθ)dθ
-(4A) In order to actually realize the above calculation, if an encoder E that generates P pulses per rotation is used, and if the speed error signal is Ne(j), then N
eQ: It can be expressed as a motor speed error calculated from the Q-th (1≦Q≦P) pulse period of the encoder signal. Therefore, as a means for detecting the characteristics of speed fluctuation from the speed signal Nf, (6) is used.

(7) Execute the calculation shown in equation (7). Here, cosine
Information on the Walsh function and the 5ine Walsh function is required, but this is stored in the ROM 36 in advance.

Next, an overview of the configuration of the portion indicated by the broken line frame in FIG. 3, which is a novel element of the present invention, will be described.

The components within the broken line are a counter 10 that is a counting means that outputs a count value (corresponding to Q in equations (6) and (7)) that is output in response to a pulse from the speed detector 5.
, a function generating means 11.16 for outputting a step function value determined corresponding to this count value, and a variation for determining a speed error fluctuation component based on this step function value and the speed error signal Ne from the speed comparison means 51. component detection means 13.18;
subtraction means 55 and 56 for inverting the sign of this speed error fluctuation component; control calculation means 14 and 19 for summing the inverted values for integral control; and correction signal generation means 1.
5.20 Function generation means 12.1 that outputs step function values
7, and correction signal creation means 15.20 for creating correction signals Icl and Ic2 based on the result of the control calculation means 14.19 and the function value.

The correction signals Icl and Ic2 are added by the addition means 54, which is a part of the correction signal generation means, and a speed error correction signal Ic is output.

The fact that there are two sets each of function generation means, fluctuation component detection means, control calculation means, and correction signal generation means is cal(n
, θ) and 5al(n, θ), respectively. Furthermore, if there are multiple high frequency components to be corrected, three blocks indicated by broken lines are prepared for the number of components, for example, when calculating for n=1.5.7.

Although the above-mentioned control calculating means 14.19 calculates the sum for integral control, the present invention is not limited to this, and proportional control or proportional/integral control may be used.

Furthermore, if none of integral control, proportional control, or proportional/integral control is performed, the control calculation means 14 and 19 are unnecessary.

Furthermore, regarding the function generation means, the variation component detection means 1
3.18 and the correction signal generating means 15 and 20, the fluctuation component detecting means 13.1 is provided independently.
This is to make it possible to cope with the case where the function value for 8 and the function value for the correction signal generation means 15.20 are supplied with a phase shift, and even if only one function generation means is used, the effect of the present invention is It will not damage.

Next, the third section explains specifically how to remove speed fluctuations.
This will be explained based on the diagram.

While the motor M rotates once, calculations of equations (6) and (7) are performed to detect speed fluctuation components. This is shown in Figure 3 1
This is performed by the fluctuation component detection means shown in 3.18. A feedback control system with a target command of zero may be configured so that this becomes zero. Therefore, the following calculation is performed.

5n=Sn+・(1/P)・(An) −(8)C
n=Cn+.(1/P).(Bn) - (9) This is the control calculation shown in FIG. 3, 14.19.

Although integral control with an integral gain of 1 is used here, proportional control or proportional/integral control each having a gain can also be used.

Based on this result, the following equation was used as a means of creating a signal to correct speed fluctuations.

Ic1=Sn-sal(n,-)-(10)I
c2= Crrcal(n, −) −(If)
This is the content of the calculation performed by the correction signal generating means shown in FIG. 3 and 5.20. That is, Equation (10) represents a 5ine Walsh component with the number of alternations n, and Equation (11) represents a cosine Walsh component with the number of alternations n.

In addition, using Sn and Cn found from equations (8) and (9) during the i-th rotation, (10) is obtained during the i+1-th rotation.
, performs the calculation of equation (11).

In the end, as the correction signal shown in FIG. 3 Ic, Ic=Ic
l+Ic2-(12) will be output. As can be seen from equation (5), this is a reverse phase waveform of the speed fluctuation component with the number of alternations n. Add this correction signal Ic to Is in FIG.

This cancels speed fluctuations. Further, the same effect can be obtained by changing the proportional gain K of the speed control system using the correction signal instead of adding the correction signal.

Although it would be ideal to perform the above processing on an infinite number of alternating number components, this is not possible due to processing time constraints. Therefore, in reality, only the alternation number component that has a particularly large influence needs to be performed.

Also, equations (10), (11), and (12) are expressed as W
If the Walsh function has a constant value, the result will also be constant. Therefore, by performing the calculation at the point where the Walsh function changes, and holding the previous value if there is no change, it is possible to achieve the same effect with less calculation time. Obtainable.

In addition, the result of equation (12) is that the inverse signal of the speed fluctuation component is added to the current command as a correction signal, but the component with a high number of alternations depends on the inertia of the motor, and the difference between the added correction signal and the actual motor Therefore, it is desirable to advance the phase of the correction signal.

In order to realize this, it is also effective to use the following equation instead of equations (10) and (11).

(Left below) Ic1=Sn-cal(n+)...11
3) P I c2 = Cn-5al(n, -) -(
14) According to this, the phase of the correction signal can be advanced by π/2 (rad) without increasing the processing time.

A flowchart for processing the above control operations by a microcomputer is shown in FIG. 4(b).

FIG. 4(a) is a control table effective for executing the above processing, in which the Walsh function is stored in bit 0.4, and the data that controls the flow of the program is stored in the ROM in the other bits.
It is stored in 36.

This control table and flowchart are examples in which the number of pulses per rotation of the encoder 5 is 24 pulses, the number of alternations per rotation of the motor is 1, and the speed fluctuation component is corrected, and the phase advance processing of the correction signal is not performed.

To explain with reference to the drawings, steps 41 and 42
The speed command Ns and the speed Nf are taken in at step 43.
In step 44, the speed error Ne is calculated from the taken-in speed command Ns and the actual speed Nf (Ne=Ns-Nf)L, and in step 44, the proportional gain K for proportional control is multiplied (Is=
ni-Ne). In step 45, the counter ■ is incremented.

In step 46, the control table is read using the value of the counter ■ as a pointer. In step 47, the process branches after checking whether bit ○ of the imported control table is 110 tT or rt 1 tr. This bit state is II I
If it is IT, execute step 50.51; if it is 0'', execute step 48.49. Note that step 4
Step 8.50 executes equation (6), and step 49.51 executes equation (10). That is, in block 1, a 5ine l1lalsh function component is detected in the speed fluctuation.

A correction signal Icl is being created.

Next, in step 52, bi of the captured control table is
Check whether t4 is "0" or "1" and branch. If this bit state is "1", steps 55 and 56 are executed, and if it is in On, steps 53 and 54 are executed. Note that steps 53 and 55 are based on equation (7), step 5
4.56 executes equation (11). That is, in block 2, a cosine Valsh function component is detected within the speed fluctuation, and a correction signal Ic2 is created.

Next, in step 57, bi of the imported control table is
Branching occurs depending on whether t7 is "0" or "1". If this bit state is "1", in step 58, equation (8) is converted to step 6.
Execute equation (9) at o. Also, in steps 59 and 61, 5ine Walsh function components An and cosine
Initialization of Walsh function component Bn, step 6
2, initialize the counter I.

Further, this process is not performed when the bit state is "0".

That is, the process of block 3 is executed only once for one rotation of the motor, and performs integral control calculations and various initializations.

Next, in step 63, equation (12) is executed, and in step 64, the calculation result is output, and the process ends.

This is one way to implement the invention.

Here, the correction is for the speed fluctuation component with the number of alternations per motor rotation being 1, but if the addition amount of the counter is set to 2 in step 45, the correction can be made for the speed fluctuation component with the number of alternations of 2. I can do it.

That is, by setting the addition amount of the counter (2) to L in step 45, it is possible to correct the speed fluctuation component of the number of alternations.

Furthermore, if the number of pulses of the encoder 5 is sufficiently large relative to the number of alternations to be corrected, the speed fluctuation correction processing section consisting of blocks 1 to 3 and step 63 does not necessarily need to be executed for each pulse of the encoder; for example, , a Walsh function with a small number of alternations, that is, one corresponding to a low frequency component, may be executed every two pulses of the encoder, for example. This allows the calculation load on the microcomputer to be reduced.

Here, the Walsh function is expanded into a Fourier series.

FIG. 5(a) shows the Walsh function (solid line) with an alternation number of 1 and its fundamental frequency component (broken wA).

As shown in equations (15) and (16), the alsh function includes many high frequency components of odd harmonics. on the other hand,
Motor speed fluctuations occur due to unbalance of currents of each correlation, etc., and almost no harmonic components other than the fundamental frequency component are included. Therefore, when correction is applied to this speed fluctuation using the Walsh function, the harmonics included in the correction signal become disturbances via the active part, and even though the fundamental wave component can be reduced, the harmonic components of odd harmonics are The opposite may occur.

Therefore, FIG. 5(b) shows an example of a function in which harmonic components are unlikely to occur. This function is 1, O, -1
is a function consisting of three values, and if this function is used, three harmonic components among the high frequency components of odd harmonics will not be generated.

The above calculations can be performed only by addition and subtraction, and even an inexpensive low-performance microcomputer can achieve a sufficient speed fluctuation reduction effect.

The following method is a method that further simplifies the example shown above. In place of equations (6) and (7), and in place of equations (10) and (11), Ic1=-An-s
al(rz) −419)Ic2=−Bn−
cal(n+) −(20) may be used. This involves detecting the speed fluctuation component using equations (17) and ([1), and creating a correction signal based on the signal using equations (19) and (20). (17).

The result of equation (18) is the summation of the fluctuation components until there is no speed fluctuation. That is, (17).

The result of equation (18) converges to a certain value, and speed fluctuations disappear. By doing so, equations (8) and (9) can be omitted, and the calculation load on the microcomputer can be reduced.

Further, although the above method is described for speed control of a motor, it is also applicable to control devices such as position control such as a PLL and harmonic suppression of a sine wave generation circuit such as an inverter.

Next, a second embodiment in which the present invention is applied to a VTR will be described with reference to FIG.

FIG. 6 shows a control block diagram of the cylinder motor 71 and capstan motor 74 of the VTR.

An overview of the configuration will be described.

The control system of the VTR consists of a cylinder motor servo system and a capstan motor servo system, each of which is equipped with control blocks called rotational unevenness learning 61 and 62 shown by broken lines in FIG. 6, which are speed control devices according to the present invention. have

The capstan motor servo system includes a tape speed control 63 that controls the average value of the tape speed to match the command speed, a rotation unevenness learning 61 that controls speed fluctuations, and a phase control between the capstan motor 74 and the cylinder motor 71. There is a tracking control 64 for alignment, the outputs of which are applied to the motor active circuit 75 via digital filters 67,68.

The servo system of the cylinder motor 71 includes a cylinder rotation control 65 that controls the average value of the tape speed to match the command speed, and a rotation unevenness learning 62 that controls speed fluctuations.
There is a head phase control 66 that performs phase matching between the capstan motor 74 and the cylinder motor 71, and these are applied to the motor drive circuit 72 via digital filters 69 and 70.

Next, the operation will be explained.

These motors are usually brushless motors, but may or may not have brushes. Here, the cylinder motor 71 is
There is a friction load between the cylinder and the tape, and the capstan motor 74 has a tape load. Further, each motor has factors that generate torque ripple and coking torque. The speed of the motor fluctuates due to these load fluctuations and pulsating torque. Although not shown, each motor has a speed detector that generates a rotational speed signal. As the speed detector, an encoder, a frequency generator, a tachometer generator, a pulse generator, etc. may be employed.

The types of control for the cylinder motor 71 and capstan motor 74 include tape speed control 63 and cylinder rotation control 6.
5, tracking control 64, and head phase control 66.

The tape speed control 63 and the cylinder rotation control 65 control the speed of the motor according to the plurality of mode commands based on the plurality of mode commands generated from the system control 76 and the rotational speed signal of the speed detector of each motor. Note that this control is proportional (P) control. The gain and phase of this control output are guaranteed by digital filters 67 and 69 so that the control system becomes stable. Note that this filter may be an analog filter having similar characteristics.

This output is sent to motor drive circuit 72, 75 to drive the motor to obtain the desired rotational speed.

On the other hand, the tracking control 64 and head phase control 66 are
To accurately record and play back video signals.

Match both motors in phase.

Although these control blocks are conventionally known, the present invention has novel elements indicated by the dashed box in FIG. This is due to rotational unevenness learning 61 shown in the dashed line frame in Figure 3.
, 62, which is a control block that suppresses uneven rotation.

With this control configuration, uneven rotation of both motors can be reduced, and stable images can be recorded and reproduced.

Although this example was shown using a VTR, it can also be used to control the spindle motor of a floppy disk drive, the polygon mirror drive motor of a laser printer, the cylinder/capstan motor of a digital audio tape device, the linear motor, etc. May be applied to

[Effects of the Invention] Since the present invention is configured as described above, it produces the effects as described below.

In conventional technology, when performing Fourier series expansion and Fourier inverse transform, expensive arithmetic equipment that performs a large number of multiplications or additions at high speed is required, and the processing takes a lot of time. However, the present invention does not require multiplication when extracting characteristics of speed fluctuations and creating speed fluctuation correction signals, and it is possible to obtain the same effect as the above-mentioned control device with a simpler and cheaper arithmetic device. I can do it.

As a result, an electric motor speed control device suitable for VTRs and the like that requires high constant speed performance can be provided at low cost.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the overall configuration of the first embodiment of the present invention, FIG. 2 is an internal configuration diagram of the microcomputer of the first embodiment, and FIG. 3 mainly shows the internal processing of the microcomputer. The block diagram, Fig. 4 is a microcomputer control flowchart and control table for reducing speed fluctuations, and Fig. 5 is an example of a Walsh function and 3
A graph showing a three-value function effective for reducing harmonics twice as much. FIG. 6 is a block diagram of the VTR motor control of the second embodiment. FIG.
This is a graph showing an example of the s Walsh function. 8...Motor, 31...Magnetic pole position detector, 5...
Encoder (speed detector), 6... Speed detection circuit, 9
...Microcomputer, 7...Inverter, Is
... Current command, Ns... Speed command, 1o... Counter, 11.16. Function generation means, 13.18. Fluctuation component detection means, 14.19. Control calculation means, 15°2o.
・Correction signal generation means, 51 ・Speed comparison means, 52.
. . . Command signal generation means, 53 . . . Proportional control means, 54
...Addition means.

Claims (7)

[Claims] 1. a speed detection means for detecting the motion speed of the moving body; a speed control means for generating a current or a voltage command from a speed detection signal and a speed command signal obtained from the speed detection means; In a speed control device for a moving body, the speed control means generates a speed error signal from the difference between the speed detection signal obtained from the speed detection means and the speed command signal. a step function generating means for generating a step function value, and a speed error fluctuation component by integrating the multiplication value of the function value by the step function generating means and the speed error signal by the speed error detecting means. The present invention includes a fluctuation component detection means for detecting a fluctuation component, and a correction signal creation means for creating a speed error correction signal by multiplying a speed error fluctuation component by the fluctuation component detection means and a function value by the step function generation means, and a correction signal generation means for creating a speed error correction signal. A speed control device for a moving body, characterized in that it outputs an output. 2. a speed detection means for detecting the motion speed of the moving body; a speed control means for generating a current or a voltage command from a speed detection signal and a speed command signal obtained from the speed detection means; In a speed control device for a moving body, the speed control means generates a speed error signal from the difference between the speed detection signal obtained from the speed detection means and the speed command signal. a step function generating means that generates a two- or three-value function value; and a step function generating means that generates a two- or three-value function value; A variation component detection means for detecting an error variation component, and a correction signal generation means for producing a speed error correction signal by multiplying the speed error variation component by the variation component detection means and the function value produced by the step function generation means, Or a speed control device for a moving body characterized by outputting a voltage command. 3. a speed detection means for detecting the motion speed of the moving body; a speed control means for generating a current or a voltage command from a speed detection signal and a speed command signal obtained from the speed detection means; In a speed control device for a moving body, the speed control means generates a speed error signal from the difference between the speed detection signal obtained from the speed detection means and the speed command signal. a speed error detection means for outputting a count value which is position or angle information in response to the speed detection means obtaining a speed detection signal; step function generating means for generating a function value; and fluctuation component detecting means for detecting a speed error fluctuation component by integrating the multiplication value of the function value by the step function generating means and the speed error signal by the speed error detecting means. , a control calculation means for proportionally or integrally controlling the speed error fluctuation component by the fluctuation component detection means, and a speed error correction signal is generated by multiplying the output signal from the control calculation means by the function value from the step function generation means. What is claimed is: 1. A speed control device for a moving body, comprising a correction signal generating means and outputting a current or voltage command. 4. A control device, a drive device that applies current or voltage to the controlled device based on a command value given from the control device, and a detection device that detects the operation of the control device as a current or voltage detection signal. In the control device, the control means corresponds to the actual operation of the controlled device,
A step function generating means for generating a step function value; and a multiplication value of the function value by the step function generating means and the detection signal detected from the detecting means is integrated and included in the actual operation of the controlled device. A fluctuation component detection means for detecting a fluctuation component, a control calculation means for performing proportional or integral control calculation on the signal detected by the fluctuation component detection means, and a step function value generated by the signal from the control calculation means and the step function generation means. 1. A control device comprising: correction signal generating means for generating a correction signal by multiplying . 5. The speed control means outputs the current or voltage command every time the speed detection means receives a new speed detection signal M times (here, M is an integer of 2 or more). A speed control device for a moving body according to claim 1, 2 or 3. 6. Claim 1, characterized in that the operation timing of the fluctuation component detection means and the correction signal generation means is limited to only the timing at which the function value changes by the step function generation means.
6. The speed control device for a moving body according to 2, 3 or 5. 7. The function value generated by the step function generation means is periodic, step function generation means are provided for each of the fluctuation component detection means and the correction signal generation means, and the phase difference between the function values generated by the step function generation means is 7. The speed control device for a moving body according to claim 1, wherein the speed is an integral multiple of 0 or ±π/2 rad.