Motor speed controller and gain setting method of the controller

Abstract

A motor speed controller with high speed response characteristics. The controller comprises a proportional operating means, a means (,) which controls the angular velocity of a motor, an equivalent rigid body model (,) modelled in a primary delay system where the viscosity friction is handled as the time constant, a first compensating means (,) which carries out proportional operation, a second compensating means (,) which carries out integration, a means by which a motor torque signal outputted from the speed control means, the output of the first compensating means and the output of the second compensating means are added, and the sum is inputted to the equivalent rigid body model (,), and the differential signal between the speed signal of the speed control means and the output of the equivalent rigid body model is inputted to the first and second compensating means, and a means for defining the proportional gain of the first compensating means as the product of a first gain &xgr;,and a second gain &ohgr;,, the proportional gain of the second compensating means as the square of the second gain, and the second gain &ohgr;,as the product of the proportional gain (Kv) of the proportional operating means and a preset band setting coefficient (&agr;). The output of the equivalent rigid body model is fed back to the speed control means (,) as a measured speed.