A method for controlling the current of a servomotor

摘要

PURPOSE: To compensate a delay of a current loop by designating an angle corresponding to the delay of current loop as a compensating angle and executing coordinate transformation using the phase angle compensated using this compensating angle. ;CONSTITUTION: In the phase d and phase q, the control system is provided with an integration terms 11, 12 having the integral gain K1 and proportional terms 13, 14 having the proportional gain K2 and the motor detector system is provided with a resistor element R and inductance element L in the motor side. Moreover, the phase d and phase q are provided with interference items 15, 16 from the other phase and also a current loop delay item 17 and compensating item 18. The compensating term 18 delays the phase of current value as much as the angle Δθ which is equal to the delay angle Δθ of the current loop and subtracts the command current Id* and Iq* from the output currents Id' and Iq' for the purpose of feed back. Thereby, current control can be realized with an electrical angle θe obtained by compensating the delay angle Δθof the current loop. The delay angle Δθ of the current loop can be obtained as a product of the time delay δ and electrical angle frequency ωe.;COPYRIGHT: (C)1997,JPO