Method and device for controlling the speed and position of at least one rotor of a motor slave referred to as a function of the speed and position of the rotor of a so-called main motor

摘要

The present invention relates to methods and devices for controlling the speed and position of at least one rotor of a so-called "slave" motor as a function of the speed and position of the rotor of a so-called "master" motor. The method and the device include a formulation for each rotor 2, 4 of a plurality of first pulses for a portion of rotation of each rotor, and during a first time span a transformation of each of the pluralities of first pulses by a multiplication 33, 31, 57, 54, of each by a first and second multiplication coefficient, being respectively a function of the speed of rotation of the rotor of the master motor 5 and of the speed required of the rotor of the slave motor 3, so as to obtain, through this transformation, two series of second pulses, a time comparison 42 of these two series of second pulses to give a comparison result, a control 73, 75 of the speed of rotation of the rotor 2 of the slave motor 3 as a function of the said result of this comparison, so that the said second pulses of each series coincide in time. Application: control of motors, in particular in robotics. IMAGE