Toyoda Koki Kabushiki Kaisha

Yasunori Masegi

Toshio Kohno

Isamu Yokoe

An apparatus for preventing torque variation in a digitally controlled servomotor. Electrical angles .theta..sub.1 and .theta..sub.2 of the exciting magnetic field or the armature coil at respective timings of detecting and controlling a load current are obtained. The current is dq-transformed with .theta..sub.1 and inverse-dq-transformed with .theta..sub.2. As a result, even if there is a displacement of the actual electrical angle owing to the rotation of the armature during computing, it is possible to execute accurate current control. Further, at the time of calibration of the control system, the load currents are detected to be dq-transformed. From the d-axis components and q-axis components, values related to the offset and the amplification factor of the current detection systems are calculated. During the actual operation of the servomotor, the detected current value is corrected using the values. Further, the detection of the load current is performed plural times in one control cycle. Thereupon, a statistical average value is obtained as the detected current. Accordingly, an undesirable variation of the output torque is prevented.

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Anjo, Japan

Yasunori Masegi