JPS596782A - Digital speed control device for electric motor - Google Patents
Digital speed control device for electric motorInfo
- Publication number
- JPS596782A JPS596782A JP57115152A JP11515282A JPS596782A JP S596782 A JPS596782 A JP S596782A JP 57115152 A JP57115152 A JP 57115152A JP 11515282 A JP11515282 A JP 11515282A JP S596782 A JPS596782 A JP S596782A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- control device
- electric motor
- time
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
- H02P7/293—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC using phase control
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は電動機の制−装置に係り、特にディジタル制御
で高速応答を達成するのに好適な電動機の速度制御装置
に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a braking device for an electric motor, and more particularly to a speed control device for an electric motor suitable for achieving high-speed response using digital control.
マイクロコンピュータを用いたディジタル式電動１・幾
制御装置の構成は第１図で示される。マイクロコンピュ
ータ−１ゲ一トハルス発生回路２、サイリスタ変遺器３
、電動機４、電源５、インクリメンタルエンコーダ６及
びカウンタ７とから成る。The configuration of a digital electric motor controller using a microcomputer is shown in FIG. Microcomputer-1 Geithals generation circuit 2, thyristor transformer 3
, an electric motor 4, a power source 5, an incremental encoder 6, and a counter 7.
マイクロコンピュータ１は第２図のタイムチャートでボ
したように一足周期Ｔ毎に、第３図のフローチャートを
実行する。今、ｎ回目の制御時点たったとすると、第２
図でｎＴＯ時点からマイクロコンピュータｌは制御演算
を実行する。最初に、ステップ５０でカウンタ７から速
度逆出１直Ｎ ｔ （ｎ）を取り込む。この１直は、（
ｎ １）ＴからｎＴ。The microcomputer 1 executes the flow chart shown in FIG. 3 every foot cycle T, as shown in the time chart shown in FIG. Assuming that the nth control point has now arrived, the second
In the figure, the microcomputer l executes control calculations from time nTO. First, in step 50, the speed reverse output 1 straight N t (n) is fetched from the counter 7 . This first shift was (
n 1) T to nT.
間に入ってきたインクリメンタルエンコーダ６の出力パ
ルスを叙えたものであり、この時間内の平均速度を意味
する。矢に、ステップ５２でカウンタ７をリセット子る
。更にステップ５４で速度指令Ｎｃ（ｎ）を取り込む。It describes the output pulses of the incremental encoder 6 that have come in between, and means the average speed within this time. In step 52, the counter 7 is reset. Furthermore, in step 54, the speed command Nc(n) is taken in.
このようにして柩シ込んだ指令Ｎｃ（ｎ）、演出値Ｎ
ｔ （ｎ）を用いて速度制御演算を行い、その結果のα
ｏ （ｎ）をゲートパルス発生回路２に設定する。ゲー
トパルス発生回路２はサイリスタ変侠器３を構成するサ
イリスタのゲートパルスを発生し、電源５の電圧を１勧
礪へ印加することによって電動機の速度を制御するっこ
のようなステップ５０からステップ５８までの処理を時
間Ｔ毎に実行し、その処理時間ΔＴ後にαＤ（ｎ）をゲ
ートパルス発生回路２へ設定して処理を終了する。In this way, the command Nc(n) and the production value N
Perform speed control calculation using t (n), and the resulting α
o (n) is set in the gate pulse generation circuit 2. The gate pulse generation circuit 2 generates gate pulses for the thyristors constituting the thyristor converter 3, and controls the speed of the motor by applying the voltage of the power supply 5 to one voltage. Steps 50 to 58 The processes up to this point are executed every time T, and after the processing time ΔT, αD(n) is set in the gate pulse generation circuit 2, and the process ends.
ところで、このような電動機速度制御装置には仄のよう
な問題点がある。However, such a motor speed control device has the following problems.
速度検出値Ｎｔ（ｒＩ）を得るのに、一定時間Ｔの平均
直音用いておシ、その直は制御したい時点、例えば（ｎ
−１）Ｔ、ｎＴ、（ｎ＋１）Ｔなどの時点の速度をボし
ていない、、クリえば電動機の速度Ｎが第４図のように
直線的に増加している場合にはｎＴ時点で寿だ速度・演
出１直Ｎ ｔ （ｎ）はほぼＴ ／ ２ ＠ｉＪの匝で
ある。このように、制御演算を開始する時点ｎＴの速度
ＮＲ（ｎ）とＮ ｔ （ｎ）とでは大きな差がある。こ
のような違いは、制御系としてフィードバックにむだ時
間が入ったことになり安定で、かつ応答を商運化するこ
とが鋤がしくなる。To obtain the speed detection value Nt(rI), the average direct sound over a certain period of time T is used, and that direct is the point at which you want to control, for example (n
-1) If the speed at times T, nT, (n+1)T, etc. is not exceeded, the motor's speed N increases linearly as shown in Figure 4. The speed and performance of 1st shift Nt (n) is almost the same as T/2 @iJ. As described above, there is a large difference between the speed NR(n) at the time nT when the control calculation is started and the speed N t (n). Such a difference causes dead time in the feedback of the control system, making it difficult to stabilize and commercialize the response.
本発明は、インクリメンタルエンコーダヲ用いた速度逆
出によっても高速応答が達成できる電動機の速度制御装
置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a speed control device for an electric motor that can achieve high-speed response even by speed reversal using an incremental encoder.
本発明は、ｎ時点の演出ＩＩＩｆＮ ｔ （ｎ）及びそ
の時点以前の演出１直Ｎｔ （ｎ １ ） 、 Ｎ
ｔ （ｎ−２）”・・・・を用いて、ｎ時点の実際速
度Ｎ Ｒ（ｎ）を予測し、その直を速度帰還信号として
用いることにより検出部分の遅れをなくしたものである
。The present invention provides performance IIIfN t (n) at time n and performance 1st shift Nt (n 1 ), N before that time.
t(n-2)''... is used to predict the actual speed N R(n) at time n, and the delay in the detection part is eliminated by using the predicted speed as the speed feedback signal.
本発明による一実施例のフローチャートを第５図に示す
。ディジタル代置動機速度制御装置の構成は第１図のも
のであシ、マイクロコンピュータ１が処理する内容が異
なっている。父、第５図のフローチャートの各ステップ
で第３図と同じ数字は同じ機能の処理を示す。第３図と
異なっているところはステップ７０．７４の処理が退加
されたことと、ステップ５６の処理のかわりにステップ
７２の処理が加わったことである。A flowchart of an embodiment according to the present invention is shown in FIG. The configuration of the digital substitute motor speed control device is the same as that shown in FIG. 1, but the contents processed by the microcomputer 1 are different. In each step of the flowchart in FIG. 5, the same numbers as in FIG. 3 indicate the same functional processing. The difference from FIG. 3 is that the processing of steps 70 and 74 has been omitted, and that the processing of step 72 has been added in place of the processing of step 56.
ステップ７０では、今回の演出＋１Ｎｒ（ｎ）と前回ま
での演出１直Ｎｔ （１） （１＝ １ 、２ 、−−
、 ｎ−１）をもとにしてｎＴ時点の速度検出値Ｎ ｎ
（ｎ）を予測する計算を行う。例えば、醒ｄｉｈ磯の
速度変化が制御のだめのサンプリング周期Ｔよりもゆる
やかであり、直線的に加減速していると仮定できるとき
にはＮＲ（ｎ）としては次式を用いればよい。At step 70, the current performance +1Nr(n) and the previous performance 1 shift Nt (1) (1= 1 , 2 , --
, n-1), the speed detection value N n at time nT
Perform calculations to predict (n). For example, when it can be assumed that the speed change of the rocky shore is slower than the sampling period T of the control and that it accelerates or decelerates linearly, the following equation may be used as NR(n).
この（１）式を用いると第４図のような電動機の速度変
化に対しては、ＮＲ（ｎ）はｎＴ時点の速度検出値を意
味することになる。この予測計算値ｉＮＲ（ｎ）を速度
帰還信号としてステップ７２で速度、１ｙＩＩ１１１１
演算を行い制御角αＤを計算し、その値をゲートパルス
発生回路２に設定する。更に、ステップ７４では速度・
演出１ｌ）ＬＮｆ（ｎ）全記憶しておき、次の予測演算
で用いることができるようにしておく。以上の処理を′
Ｖ毎に実行し亀蝉愼の速度を制御する。Using this equation (1), for the speed change of the motor as shown in FIG. 4, NR(n) means the speed detected value at time nT. Using this predicted calculated value iNR(n) as a speed feedback signal, the speed is determined in step 72, 1yII1111
The calculation is performed to calculate the control angle αD, and the value is set in the gate pulse generation circuit 2. Furthermore, in step 74, the speed
Performance 1l) Store all of LNf(n) so that it can be used in the next prediction calculation. The above processing
Executes every V to control the speed of Kamesemi.
以上の制御では、電動機の達成を恢出する部分にむだ時
間がなくなるので応答の高速化を安定に制御できること
になる。又、（１）式の演昇はマイクロコンピュータ１
にとってはシフトと加減昇のみであり、非だに短時間で
処理できる幼果ケも有する。In the above control, since there is no dead time in the part where the electric motor achieves the desired result, it is possible to stably control the speeding up of the response. Also, the expression (1) is expressed by the microcomputer 1.
It only requires shifting and raising/subtracting, and it also has young fruits that can be processed in a very short time.
史に、第６図のように＠動機の速度Ｎが曲線的に変化す
る場合には、２つ前までの演出値Ｎｔ（ｎ−２）、 Ｎ
ｒ （ｎ １）、 Ｎｔ（ｎ）を用いて次式によりＮ
ｕ（ｎ）を１拝すると、よりＮ Ｒ（ｎ）が正確に予測
できる。Historically, when the speed N of the @motor changes in a curve as shown in Fig. 6, the performance value Nt (n-2), N up to the previous two
Using r (n 1) and Nt (n), N
If we take a look at u(n), we can predict N R(n) more accurately.
Ｎ ｎ （ｎ）＝ ＮＲｔ（ｎ）十ΔＮ Ｒ−・・・−
（２）ただし、
ＮＲＩ（ｎ）＝Ｎｆ（ｎ）＋ ＜Ｎｔ （ｎ） Ｎｔ
（ｎ １） ）／２・・・・・・・・・（３）
・・・・・・・・・（４）
（２）式で、ＮＲＩ（ｎ）は（１）式を用いたときの予
測値であり、実際の直とは大きく異なっている。これに
対して、Ｎ１（ｎ−２）とＮｔ（ｎ−１）の差及びＮｔ
（ｎｌ）とＮ ｔ （ｎ）との差の変化ΔＮＲを補正す
るとＮＲｔ（ｎ）から少ない値のｉＮ ｎ （ｎ）とな
りｎＴ時点の実際の速度Ｎに近い唾とすることができる
。N n (n) = NRt (n) +ΔN R-...-
(2) However, NRI(n)=Nf(n)+ <Nt (n) Nt
(n 1) )/2・・・・・・・・・(3) ・・・・・・・・・(4) In equation (2), NRI(n) is when using equation (1) This is a predicted value, which is significantly different from the actual value. On the other hand, the difference between N1 (n-2) and Nt (n-1) and Nt
When the change ΔNR of the difference between (nl) and N t (n) is corrected, the value iN n (n) becomes smaller than NRt (n), and the spit can be made close to the actual speed N at time nT.
以上、（２）式を用いると電動機の速度変化が直線的と
見なせない場合にも、（２）式を用いるとｎＴ時点の実
際の速度に近い予測１直Ｎ Ｒ（ｎ）を得ることがり能
となる。As mentioned above, even when the speed change of the motor cannot be considered linear, using equation (2), it is possible to obtain a predicted linear N R(n) that is close to the actual speed at time nT. It becomes Noh.
更に、共振現象のように電動機の速度が特定゛な曲線上
で変化するような場合には、その変動波形を考慮した特
定な■算式を用いステップ７０で社葬を行えば、予測直
ＮＲ（ｎ）が実際の速度に近い１直となシ、Ｋ出遅れの
少ない速度検出が１丁能となる。Furthermore, in cases where the speed of the motor changes along a specific curve as in the case of a resonance phenomenon, if a specific equation is used that takes into account the fluctuation waveform and is performed in step 70, the predicted direct NR ( If n) is one shift close to the actual speed, speed detection with less K start delay becomes possible.
史に、第７図は曲の実施例を説明するための説明図でり
るっ第２図にボしたように、マイクロコンピュータ１で
は第３図又は第５図の処理を実行時にαＤ（ｎ）を出力
する。このために、制御演算の結果が４．勤礪の電圧印
加へ反映されるのはｎＴ時点から処理時間分ΔＴだけ経
過した後である。そこで ｎ ＴよりΔＴ鎌経過した速
友謙出１直を予測し、その１直で制御すれば制御演算に
よるむだ時間もなくなり、１１１ＩＩ御糸の応答を史に
高速化できる。Historically, FIG. 7 is an explanatory diagram for explaining an example of a piece of music. As mentioned in FIG. 2, the microcomputer 1 calculates αD(n ) is output. For this reason, the result of the control calculation is 4. It is after the processing time ΔT has elapsed from the time point nT that it is reflected in the voltage application at the end of the day. Therefore, by predicting the first shift of Kende Hayatomo, which has passed by ΔT from nT, and controlling it using that first shift, there will be no wasted time due to control calculations, and the response of the 111II Miito can be made faster than ever.
たとえば、直線的に電動・賊の速度が増減する場貧には
次式ど用いればよい。For example, if the speed of an electric vehicle increases or decreases linearly, the following formula can be used.
・・・・・・・・・（５）
この式を第５図のステップ７０で演算するとともに、こ
のＮ ｑ （ｎ）をＮ ａ （ｎ）のかわりに用いステ
ップ７２で副岬〆韓を行うと、更に応答のよい速度Ｉｈ
１ＩＩＩ系がｔ１イ成できる。・・・・・・・・・(5) This formula is calculated in step 70 of FIG. If you do this, the speed Ih with even better response
The 1III series can be formed at t1.
以上説明したように本発明によれば、泣置灰出器の夏化
分を利用した速Ｉｆ便出における構出時間遅れケなくす
ことができるので、電動機のディジタル式連成市り御装
置の応答をゲ定で尚連化できる効果がおる。As explained above, according to the present invention, it is possible to eliminate the start time delay in quick evacuation using the summer content of the ash extractor, so that It has the effect of making the response more consistent.
第１図は本発明を通用するディジタル成畦動機１１ｉｌ
Ｊ ｌ１ｆｉＬｌ ｍ ｒａｔのブロック酵成、第２図
は従来方式のマイクロコンピュータ処理の速度制御のタ
イムチャート、第３図はフローチャート、第４図は速度
構出方法の説明図、第５図は本発明による速度制岬畏１
区の７０−ｆ−ヤード、第６図、第７図は本発明による
池の実施例を示す動作説明図である。
１・・・マイクロコンピュータ、６・・・インクリメン
タ−３９゛FIG. 1 shows a digital ridge-building machine 11il that is applicable to the present invention.
Block fermentation of J l1fiLl m rat, Fig. 2 is a time chart of speed control of conventional microcomputer processing, Fig. 3 is a flow chart, Fig. 4 is an explanatory diagram of the speed configuration method, Fig. 5 is the method of the present invention. Speed control cape 1
70-f-Yard, Figures 6 and 7 are operational explanatory diagrams showing an embodiment of the pond according to the present invention. 1...Microcomputer, 6...Incrementer-39゛
Claims (1)
出器出力の一足時間の変化分から醒ｍｍの速度を一定時
間毎に得る速度演出回路とを備えた電動機４匿制御装置
において、前記速度検出回路から最新の演出唾Ｎ ｔ
（ｎ）が得られた時点毎に、この時点以前に得られた庚
出値Ｎｒ（ム） （ｔ ＝ ｉ ｔ・・・。 ｎ−１）の少なくとも１つ以上の直とＮ ｔ （ｎ）と
を用い、その時点での瞬時速度を予測する計算回路を設
け、その＋ｔｔ算回路の出力ＮＲ（ｎ）を速度帰還１６
号として亀動愼の連成を制御することを特徴とする嵯励
愼の速度制御装置。 ２、前記計算回路は最新の１ｉｆＬ１（ｎ）と前回の値
Ｎｅ（ｎｌ）とを用い、Ｎ １（ｎ）＝ （３Ｎｔ （
ｎ）−Ｎｔ （ｎ １））／２の演算を行うように
構成したことを特徴とする前項記載の電動機の速度制御
装置。 ３、前記計算回路として、最新の１ＩＩＩＮｔ（ｎ）、
前回の１直Ｎｔ （ｎ−ｔ）、前々回の１直Ｎｆ （
ｎ２）とを用い、Ｎ Ｒ（ｎ）＝ ２ Ｎ ｇ（ｎ）
−３／ ２Ｎ＊ （ｎ−２）＋’Ｎｔ （ｎ ２）
の演算を行うように構成したことを性能とする第１項記
載の電動機の速度制御装置。 ４、最新の送出１直Ｎ＊（ｉ）が得られた時点から速度
制御装置に要する時間ΔＴを加えた時点での速度を予測
する計算回路を設け、その計算回路の出力Ｎａ（ｎ）を
連成帰還信号として電動機の速度を制御することを％倣
とする第１項記載のｔｐＬ動機の速度制御装置。[Scope of Claims] An electric motor 4 equipped with a position detector that detects x, tt electric motor rotation angles, and a speed production circuit that obtains a speed of mm at regular time intervals based on the change in output time of the position detector. In the control device, the latest performance information N t is output from the speed detection circuit.
(n) is obtained, at least one of the output values Nr (mu) (t = i t... n-1) obtained before this point and N t (n ), a calculation circuit is provided to predict the instantaneous speed at that point, and the output NR(n) of the +tt calculation circuit is used as the speed feedback 16.
This is a speed control device that is characterized by controlling the coupling of a tortoise motion as a number. 2. The calculation circuit uses the latest 1ifL1(n) and the previous value Ne(nl), and calculates N 1(n)=(3Nt (
The speed control device for an electric motor according to the preceding item, characterized in that it is configured to perform the calculation of n)-Nt (n 1))/2. 3. As the calculation circuit, the latest 1IIINt(n),
Previous 1st shift Nt (nt), 1st shift Nf from the time before last (
n2), N R(n) = 2 N g(n)
-3/ 2N* (n-2)+'Nt (n 2)
2. The speed control device for an electric motor according to claim 1, the performance of which is configured to perform the calculation. 4. Provide a calculation circuit that predicts the speed at the time when the latest output 1 straight N*(i) is obtained by adding the time ΔT required for the speed control device, and calculate the output Na(n) of the calculation circuit. 2. The speed control device for a tpL motor according to claim 1, wherein the speed of the electric motor is controlled by using a coupled feedback signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57115152A JPS596782A (en) | 1982-07-01 | 1982-07-01 | Digital speed control device for electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57115152A JPS596782A (en) | 1982-07-01 | 1982-07-01 | Digital speed control device for electric motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS596782A true JPS596782A (en) | 1984-01-13 |
| JPH027276B2 JPH027276B2 (en) | 1990-02-16 |
Family
ID=14655602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57115152A Granted JPS596782A (en) | 1982-07-01 | 1982-07-01 | Digital speed control device for electric motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS596782A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62152020A (en) * | 1985-12-26 | 1987-07-07 | Matsushita Electric Ind Co Ltd | Digital servo control device |
| JPS6359782A (en) * | 1986-08-29 | 1988-03-15 | Pfu Ltd | Motor/servo circuit |
| JPH01126187A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | speed control device |
| JPH01126185A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | Speed controller |
| JPH01126182A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | Rotational speed controller for motor |
| WO1996004708A1 (en) * | 1994-08-05 | 1996-02-15 | Kabushiki Kaisha Yaskawa Denki | Motor speed controller |
| JP2007068332A (en) * | 2005-08-03 | 2007-03-15 | Yaskawa Electric Corp | AC motor control method and inverter device |
| JP2007185071A (en) * | 2006-01-10 | 2007-07-19 | Toyota Motor Corp | Motor control device |
| JP2012135212A (en) * | 2012-04-13 | 2012-07-12 | Fuji Electric Co Ltd | Door driving controller and door driving control method |
| CN108490208A (en) * | 2018-03-09 | 2018-09-04 | 株洲华越轨道科技有限公司 | A kind of Rotating speed measring method and device conducive to closed-loop control |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5195578A (en) * | 1975-02-20 | 1976-08-21 | Kyokyupurosesuno untenhoho |
-
1982
- 1982-07-01 JP JP57115152A patent/JPS596782A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5195578A (en) * | 1975-02-20 | 1976-08-21 | Kyokyupurosesuno untenhoho |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62152020A (en) * | 1985-12-26 | 1987-07-07 | Matsushita Electric Ind Co Ltd | Digital servo control device |
| JPS6359782A (en) * | 1986-08-29 | 1988-03-15 | Pfu Ltd | Motor/servo circuit |
| JPH01126187A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | speed control device |
| JPH01126185A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | Speed controller |
| JPH01126182A (en) * | 1987-11-09 | 1989-05-18 | Matsushita Electric Ind Co Ltd | Rotational speed controller for motor |
| WO1996004708A1 (en) * | 1994-08-05 | 1996-02-15 | Kabushiki Kaisha Yaskawa Denki | Motor speed controller |
| US5834912A (en) * | 1994-08-05 | 1998-11-10 | Kabushiki Kaisha Yashawa Denki | Motor speed control device |
| JP2007068332A (en) * | 2005-08-03 | 2007-03-15 | Yaskawa Electric Corp | AC motor control method and inverter device |
| JP2007185071A (en) * | 2006-01-10 | 2007-07-19 | Toyota Motor Corp | Motor control device |
| US7973500B2 (en) | 2006-01-10 | 2011-07-05 | Toyota Jidosha Kabushiki Kaishi | Control apparatus for motor |
| JP2012135212A (en) * | 2012-04-13 | 2012-07-12 | Fuji Electric Co Ltd | Door driving controller and door driving control method |
| CN108490208A (en) * | 2018-03-09 | 2018-09-04 | 株洲华越轨道科技有限公司 | A kind of Rotating speed measring method and device conducive to closed-loop control |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH027276B2 (en) | 1990-02-16 |
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