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| Marine vessel monitoring system and method |
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| Automated user notification system |
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| Method and system for marine vessel tracking system |
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| GPS navigation device |
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| Use of an altitude sensor to augment availability of GPS location fixes |
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| Enhanced position calculation |
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| Handheld surveying device and method |
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| Navigation device and method for selectively displaying thoroughfare names |
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| Enhanced integrated positioning method and system thereof for vehicle |
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Motor control device
| Details |
Inventors: Takeuchi, Hiroaki; Okuda, Tohru;
Assignee: Sharp Kabushiki Kaisha (Osaka, JP)
Primary Examiner: Sircus; Brian
Assistant Examiner:
Attorney, Agent or Firm:
A driving circuit for generating a motor driving voltage has a positive feedback loop for feeding back the motor driving voltage through a filter. The filter is arranged so as to have a transfer function given as G.sub.F (s) which (1) satisfies G.sub.F (s).apprxeq.1 in a frequency band in which disturbances should be suppressed while (2) satisfies .vertline.G.sub.F (s).vertline.<.vertline.G.sub.open .vertline. in a full range of frequencies, where G.sub.open represents an open loop transfer function of a motor control device in which a positive feedback loop is not provided. With this arrangement, it is possible to suppress disturbances, irrelevant to motor characteristics which may vary. Besides, it is possible to provide a motor control device in which computations for disturbance compensation are considerably decreased. |
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DETAILED DESCRIPTION The object of the present invention is to provide a motor control device, (1) which is capable of obtaining a disturbance suppressing effect substantially on a level with that of the above-described motor control device using the disturbance observer even with irregularity in the motor characteristic, and (2) with which computations for disturbance compensation can be considerably decreased.
To achieve the above object, the motor control device of the present invention comprises (1) a motor, (2) detecting unit for detecting a rotating speed of the motor, (3) error detecting unit, to which the rotating speed is supplied from the detecting unit by a negative feedback loop, for outputting an error signal indicating a difference between the rotating speed and a reference rotating speed, and (4) driving unit for generating and outputting a motor driving voltage in accordance with the error signal, the driving unit including a positive feedback loop for feeding back the motor driving voltage through a filter, wherein (1) the filter has a transfer function given as G.
sub.
F (s) which is set so as to become approximately 1 in a frequency band in which disturbances should be suppressed, and (2) the output of the detecting unit is practically and equivalently supplied directly to the error detecting unit by the negative feedback loop.
By analyzing the transfer function of the motor control device using the disturbance observer, the applicants of the present application have found that it is possible to omit an arrangement indispensable for generating a disturbance compensation signal in the case where (1) the positive feedback loop having the filter is added to the driving unit and (2) the characteristic of the filter is set as described above.
In other words, with the arrangement described above, a disturbance suppressing effect on a level with that of the motor control device using the disturbance observer can be obtained in the frequency band in which disturbances should be suppressed, even without using the disturbance observer
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