JPH06103992B2 - Speed control device for moving body - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for performing periodic control such as a velocity control device for a moving body that undergoes periodic velocity variation, and particularly to velocity variation during operation. Control devices that need to suppress
The present invention relates to a speed control device for a VTR motor.

[Prior Art] It is desired that the speed of a drive motor for a VTR (video tape recorder) is constant. Speed fluctuation (rotation unevenness,
If there are velocity ripple and torque ripple), the image will be disturbed and the reliability and quality of the VTR will be significantly impaired.

Conventionally, this type of apparatus mainly uses a DC motor, but in recent years, an increasing number of examples employ a brushless motor whose speed can be changed freely and easily.

Since a brushless motor has no mechanical brush, various problems due to wear or abrasion powder of the brush or commutator are eliminated, but in the brushless motor of 120-degree energization system, the number of magnetic flux crossings of the energizing coil is the position of the rotor. The torque ripple is generated due to this, resulting in uneven rotation (speed fluctuation) during operation.

Now, assuming that the number of magnetic flux crossings of the coil in the drive phase is K (θ) (θ is the position of the moving body), the generated torque is K (θ) i (i is the current flowing in the coil), and when the current is constant , The same as the number of magnetic flux intersections K
Torque ripple is generated in proportion to (θ).

This torque ripple forms a disturbance, causing speed fluctuations.

From the above, the speed fluctuation has a periodicity with respect to the rotational position of the motor, and a technique for correcting the speed fluctuation by paying attention to this property is disclosed in Japanese Patent Laid-Open No. 1-218380. This technology extracts the characteristics of velocity fluctuations by performing Fourier series expansion, performs proportional / integral control calculation so that the extracted value becomes zero, and then outputs the calculation output to the coil by the signal that is inversely Fourier transformed. The current flowing is changed to correct the speed fluctuation.

[Problems to be Solved by the Invention] In the technique described in the above publication, an expensive arithmetic unit that executes a large number of multiplications or additions at high speed when performing Fourier series expansion and inverse Fourier transform is required. In addition, there is a problem that a lot of time is required for processing.

SUMMARY OF THE INVENTION It is an object of the present invention to simplify the calculation and perform the calculation with a low-cost arithmetic device when extracting the characteristic of the velocity fluctuation and creating the velocity fluctuation correction signal, and does not require an expensive arithmetic device.

[Means for Solving the Problems] In order to achieve the above object, the present invention is an orthonormal function having characteristics very similar to a trigonometric function system used in Fourier transform, and its value is a step function value. Some function system (for example, Valsh function when using binary step function values)
By using, it is configured to create a speed fluctuation correction signal without the need for an expensive high-speed arithmetic device,
Speed detection means for detecting the motion speed of the moving body, speed control means for generating a current or voltage command from the speed detection signal and the speed command signal obtained from this speed detection means,
In a speed control device for a moving body, which comprises a driving means for changing the moving speed of the moving body in response to a command from the speed controlling means, the speed controlling means includes a speed detection signal obtained from the speed detecting means and the speed. A speed error detecting means for obtaining a speed error signal from the difference between the command signals, a step function generating means for generating a step function value, and a multiplication value of the function value by the step function generating means and the speed error signal by the speed error detecting means. Is added to detect a speed error fluctuation component, and a correction signal generation unit that multiplies the speed error fluctuation component by the fluctuation component detection unit and the function value by the step function generating unit to generate a speed error correction signal. And to detect a current or voltage command.

[Operation] In the above configuration, assuming that the function generating means generates a value of −1,0,1 as a digital value, in the multiplication of the fluctuation component detecting means and the multiplication of the correction signal generating means, 1
No multiplication is required for multiplication, multiplication of zero can be realized by substituting zero, and multiplication of −1 can be realized by inverting the sign. Therefore, it can be executed by a simple arithmetic device and does not require an expensive arithmetic device.

[Examples] Examples of the present invention will be described below.

A first embodiment of the present invention is shown in FIG.

FIG. 1 is a block diagram showing the whole thereof.

The configuration of the first embodiment will be described below.

In this embodiment, a microcomputer 9 which is a speed control means which uses a brushless motor as a moving body, a motor 8, a magnetic pole detector 31 which detects a position of a rotor of the motor 8, a drive section 1 which is a drive means, A speed detecting circuit 6 and a speed detector 5, which are speed detecting means, are provided.

The motor 8 may be a rotary type or a linear type, and
With or without a brush, brushless is more convenient.

Although the internal configuration of the motor 8 is not shown, the brushless motor is configured to electronically detect the position of the rotor and apply current to the two phase windings selected according to the position of the rotor. Has been done.

The magnetic pole position detector 31 detects the position of a rotor (not shown) of the motor 8. The output of the magnetic pole position detector 31 is used to switch the phase current of the motor 8.

The speed detector 5 is composed of an encoder attached to the rotary shaft of the motor 8 and outputs a pulse. As a speed detector,
The encoder is not limited to the encoder, and a frequency generator, a tacho generator, a pulse generator or the like may be used.

The speed detection circuit 6 is composed of, for example, a counter, and based on the pulses detected by the speed detector 5 within a fixed sampling time, the total number of pulses, or
Calculate the pulse interval and calculate the speed signal Nf, which is the speed detection signal.
Is output.

The drive unit 1 includes an automatic current adjustment circuit 2, an inverter 7, and
It consists of a current transformer CT.

The inverter 7 is a driver that drives the motor 8.
The inverter 7 normally comprises three positive and three negative arms each composed of six switching elements, and its size can be changed.

The automatic current adjustment circuit 2 detects the difference from the current command based on the detected current value obtained by the current transformer 4, and performs feedback control. When high-precision motor control is not required,
The automatic current adjustment circuit 2 and the rectification transformer 4 may be omitted.

The speed control means 3 comprises a microcomputer 9 and a speed detection circuit 6.

The speed detection circuit 6 and the speed comparison circuit 51, which will be described later, in the microcomputer 9 constitute speed error detection means.

The microcomputer 9 processes the speed signal Nf which is the output signal of the speed detection circuit 6 and outputs a current command to the current automatic adjustment circuit 2.

The microcomputer 9 has the configuration shown in FIG. That is, it includes an arithmetic unit (CPU) 38, a D / A converter 34, and a storage unit 35.

The storage unit 35 includes a ROM 36 and a RAM 37, and the ROM 36 stores an operation program of the CPU 38, a speed command signal Ns, and a Walsh function table.

The CPU 38 receives the speed signal Nf from the speed detection circuit 6,
The speed error signal is calculated by comparing with the speed command signal N ₆ stored in the ROM 36 of the storage unit 35.

Next, the speed error correction signal Ic is created based on the speed error signal Ne calculated thereby. Then, the speed error correction signal Ic is stored in the RAM 37 of the storage unit 35 at any time and sequentially updated to the latest data.

Although the speed command signal Ns is stored in the ROM 36 in the first embodiment, the speed command signal Ns is not limited to this and may be given from the outside.

It should be noted that the microcomputer 32 and the speed detection circuit 6 can be integrated into a single-chip IC, and the automatic current adjustment circuit and the inverter can be integrated into a single-chip IC, which is useful.

Next, various functions realized by the microcomputer 9 will be described with reference to FIG.

FIG. 3 is an overall block diagram showing the speed control device and the motor of this embodiment, but mainly shows the functions in the microcomputer 9. The magnetic pole position detector 31 and the current transformer 4 are not shown.

Next, an outline of the operation will be described.

Based on the pulse obtained from the speed detector 5, the speed detection circuit 6 outputs a speed signal Nf.

The speed signal Nf is captured by the microcomputer 9.
In the microcomputer 9, the speed comparison means is calculated from the difference between the speed command signal Ns from the ROM 36 and the speed signal Nf from the speed detection circuit 6 by a processing method using software.
The speed error signal Ne is calculated by 51 and the speed error signal Ne is calculated.
Based on the above, the speed error correction signal Ic is created in the portion shown by the broken line in FIG.

Then, the speed error signal Ne processed K times by the proportional control means 53 and the speed error correction signal Ic are added by the command signal creating means 52, and the current command Is is output. The drive unit 1 outputs a current for generating a required torque based on this command.

Here, the control algorithm of the speed fluctuation relating to the present invention will be described.

Generally, the speed signal Nf that fluctuates in the cycle 1 can be expanded according to the following equation.

However, Where n ₀ is the DC component of the speed signal Nf and a _n is the speed signal Nf
And the strength of the correlation with the cosine Walsh function (cal (n, θ)) of the alternating number n, b _n is the correlation between the velocity signal Nf and the sine Walsh function (sal (n, θ)) of the alternating number n Represents strength.

A graph of cal (n, θ) and sal (n, θ) is shown in FIG. 7 for n = 1,2,3.

The alternating number n indicates half the number of zero points in the section of 0 ≦ θ ≦ 1.

In the first embodiment, the case where Ns = n ₀ , that is, the case where the DC component of the speed signal Nf matches the speed command signal Ns will be described, but the present invention is not limited to this.

In FIG. 3, since Ns = n ₀ , Ne = Nf−Ns = Nf−n ₀
Holds. That is, only the equations (3) and (4) are the velocity fluctuations.

Furthermore, at cal (n, θ) and sal (n, θ) Therefore, the equations (3) and (4) are as follows.

In order to actually realize the above calculation, when the encoder E that generates P pulses per rotation is used, assuming that the speed error signal is Ne (j), However, Nel ... lth of encoder signal (1 ≦ l ≦ P)
It can be expressed as a motor speed error calculated from the pulse cycle. Therefore, as the means for detecting the characteristic of the speed fluctuation from the speed signal Nf, the calculations shown in the equations (6) and (7) are executed. Where cosine Walsh function and sine
Information on the Walsh function is required, but this is stored in the ROM 36 in advance.

Next, an outline of the configuration of the portion indicated by the broken line frame in FIG. 3, which is a novel element of the present invention, will be described.

The components within the broken line are a counter 10 which is a counting means for outputting a count value (corresponding to 1 in the equations (6) and (7)) issued in response to the pulse from the speed detector 5, and this count. Function generating means 11 and 16 for outputting a step function value determined corresponding to the value, and a fluctuation component detecting means 13 for obtaining a speed error fluctuation component based on the step function value and the speed error signal Ne from the speed comparing means 51. , 18 and subtraction means 55, 56 for inverting the sign of the speed error variation component, and control operation means 14, 19 for taking the sum of the inverted ones for integral control.
A correction signal for generating the correction signals Ic ₁ and Ic ₂ by the function generating means 12 and 17 for outputting the step function value to the correction signal generating means 15 and 20 and the result of the control calculation means 14 and 19 and the function value. It consists of creating means 15 and 20.

The correction signals Ic ₁ and Ic ₂ are added by the adding means 54 which is a part of the correction signal creating means, and the speed error correction signal Ic is output.

There are two sets of each of the function generating means, the fluctuation component detecting means, the control calculating means, and the correction signal generating means because cal (n,
This is because θ) and sal (n, θ) are obtained respectively.
Further, when there are a plurality of high-frequency components to be corrected, three blocks indicated by broken lines are prepared for the number of components, for example, n = 1,5,7.

Although the above-mentioned control calculation means 14 and 19 take the sum for integral control, the present invention is not limited to this, and proportional control, comparison / integral control may be used.

Further, when neither the integral control, the proportional control, nor the proportional / integral control is executed, the control calculation means 14 and 19 are unnecessary.

Further, regarding the function generating means, the fluctuation component detecting means 1
For 3,18 and correction signal generation means 15,20,
It is provided independently so that the function values for the fluctuation component detecting means 13 and 18 and the function values for the correction signal generating means 15 and 20 can be supplied in a phase-shifted manner. The function generating means of does not impair the effects of the present invention.

Next, specifically, the third method for removing speed fluctuations will be described.
It will be described based on the drawings.

While the motor M makes one revolution, the calculation of equations (6) and (7) is performed to detect the speed fluctuation component. This is shown in FIG.
This is performed by the fluctuation component detecting means indicated by. A feedback control system in which the target command is zero may be configured so that this becomes zero. Therefore, the following calculation is performed.

Sn = Sn + · (1 / P) · (−An) (8) Cn = Cn + · (1 / P) · (−Bn) (9) This is the control calculation shown in FIGS. Here, the integral control is performed with the integral gain of 1. However, proportional control or proportional / integral control having respective gains can be used.

Based on this result, the following equation was used as a means for creating a signal for correcting the speed fluctuation.

This is the content of the calculation performed by the correction signal generating means shown in FIGS. That is, the equation (10) is si with an alternating number n.
Representing the ne Walsh component, equation (11) is the cosine of the alternating number n.
Represents the Walsh component. During the i-th rotation, using Sn and Cn obtained from the equations (8) and (9), i + 1
During the second rotation, the operations of equations (10) and (11) are performed.

Eventually, Ic = Ic ₁ + Ic ₂ (12) is output as the correction signal shown in FIG. 3 Ic. As can be seen from the equation (5), this is a reverse phase waveform of the velocity fluctuation component of the alternating number n. This correction signal Ic is added to Is in FIG. 3 to cancel the shift variation. Further, instead of adding the correction signal, the same effect can be obtained by changing the proportional gain K of the speed control system by the correction signal.

Here, it is ideal to execute the above-mentioned processing on an infinitely existing alternating number component, but it is impossible to realize due to the processing time. Therefore, in practice, only the alternating number component that has a particularly large influence needs to be performed.

In addition, since the results of Equations (10), (11), and (12) are constant if the Walsh function is a constant value, calculation is performed at the point where the Walsh function changes, and if there is no change, the previous value is used. By holding, the calculation time can be reduced and the same effect can be obtained.

In addition, the result of equation (12) is that the inverse signal of the speed fluctuation component is added to the current command as a correction signal, but the component with a high alternation number depends on the inertia of the motor and the added correction signal and the actual motor Since there may be a delay in responding to
It is desirable to advance the phase of the correction signal.

To achieve this, it is effective to use the following equations instead of equations (10) and (11).

According to this, the phase of the correction signal can be advanced by π / 2 (rad) without increasing the processing time.

A flowchart for processing the above control operation by the microcomputer is shown in FIG. Figure 4 (a)
Is a control table effective for executing the above processing. The Walsh function is stored in bits 0 and 4, and data for controlling the flow of the program is stored in the other bits in the ROM 36.

The control table and the flow chart are examples in which the number of pulses per revolution of the encoder 5 is 24 pulses and the velocity fluctuation component in which the number of alternations per revolution of the motor is 1 is corrected and the phase advance processing of the correction signal is not performed.

Explaining with reference to the drawings, the speed command Ns and the speed Nf are taken in at steps 41 and 42, and a speed error Ne is calculated from the taken speed command Ns and the actual speed Nf at step 43 (Ne = Ns− Nf), and in step 44, a proportional gain K for proportional control is multiplied (Is = K / Ne). In step 45, the counter I is incremented.

In step 46, the control table is fetched using the value of the counter I as a pointer. In step 47, a check is made as to whether bit 0 of the fetched control table is "0" or "1", and the process branches.
If this bit status is "1", execute steps 50 and 51,
If it is "0", steps 48 and 49 are executed. Note that Steps 48 and 50 execute Expression (6), and Steps 49 and 51 execute Expression (10). That is, in block 1, sine within the speed fluctuation
The Walsh function component is detected and the correction signal Ic ₁ is created.

Next, at step 52, the state of bit 4 of the fetched control table is "0" or "1" is checked and the process branches. If this bit state is "1", steps 55 and 56 are executed, and if it is "0", steps 53 and 54 are executed. The steps 53 and 55 are (7)
Expression, steps 54 and 56 execute expression (1). That is, in block 2, the cosine Walsh function component is detected within the velocity fluctuation, and the correction signal Ic ₂ is created.

Next, at step 57, a branch is made depending on whether bit7 of the fetched control table is "0" or "1". When the bit state is "1", the equation (8) is executed in step 58 and the equation (9) is executed in step 60. In steps 59 and 61, the sine Walsh function component A
The n and cosine Walsh function components Bn are initialized. In step 62, the counter I is initialized. If the bit status is "0", this process is not performed. That is, the processing of block 3 is executed only once for one rotation of the motor, and integral control calculation and various initializations are executed.

Next, in step 63, the expression (12) is executed, and in step 64, the calculation result is output and the processing ends.

This is one way of implementing the invention.

Here, the correction is made for the speed fluctuation component in which the number of alternations per motor rotation is 1, but if the addition amount of the counter I is set to 2 in step 45, the speed fluctuation component in the alternation number 2 is corrected. be able to. That is, by setting the addition amount of the counter I to L in step 45, it is possible to correct the velocity fluctuation component of the alternating number L.

If the number of pulses of the encoder 5 is sufficiently large with respect to the alternating number L to be corrected, the steps from block 1 to block 3 are repeated.
The speed fluctuation correction processing unit consisting of 63 does not necessarily have to be executed for each pulse of the encoder. For example, for a Walsh function with a small alternating number, that is, for one corresponding to a low frequency component, as an example, 2 It may be executed for each pulse. This can reduce the calculation load of the microcomputer.

Here, if the Walsh function is expanded in Fourier series, Becomes

FIG. 5 (a) shows the Walsh function (solid line) with an alternating number of 1 and its fundamental frequency component (broken line).

As shown in Eqs. (15) and (16), the Walsh function contains many high-frequency components of odd harmonics. On the other hand, the speed fluctuation of the motor is caused by the imbalance of the currents of the respective correlations, and the harmonic components other than the fundamental frequency component are hardly included. Therefore, if the Walsh function is used to correct this speed fluctuation, the harmonics contained in the correction signal become disturbance through the drive unit, and although the fundamental wave component can be reduced, the harmonic components of the odd harmonics On the contrary, it may occur.

Therefore, FIG. 5B shows an example of a function in which a harmonic component is less likely to occur. This function is 1,0, -1 3
It is a function consisting of values, and if this function is used, the third harmonic component of the high frequency component of the odd harmonic is not generated.

The above calculation can be executed only by addition and subtraction, and a low-speed low-performance microcomputer can obtain a sufficient speed fluctuation reducing effect.

The following method is a method that further simplifies the above-described example. Instead of (6) and (7) However, Kn ... Proportional coefficient, and instead of equations (10) and (11) Can be used. This detects the element of the speed fluctuation component by the equations (17) and (18) and creates a correction signal based on the signal by the equations (19) and (20). (17), (18)
The result of the equation is the integration of the elements of the fluctuation component until the speed fluctuation disappears. That is, the results of equations (17) and (18) converge to a certain value, and the speed fluctuation disappears. By doing so, equations (8) and (9) can be omitted, and the computational load on the microcomputer can be reduced.

Further, although the above method shows the speed control of the motor, it can be applied to a control device such as position control such as a PLL and harmonic suppression of a sine wave generation circuit such as an inverter.

Next, a second embodiment in which the present invention is applied to a VTR will be described based on FIG.

FIG. 6 shows a control block diagram of the cylinder motor 71 and the capstan motor 74 of the VTR.

An outline of the configuration will be described.

The control system of the VTR comprises a servo system of a cylinder motor and a servo system of a capstan motor, each of which is a speed control device according to the present invention. It has control blocks called rotational unevenness learning 61 and 62 indicated by broken lines in FIG.

The servo system of the capstan motor controls the tape speed so that the flat value of the tape speed matches the command speed.
63 and rotation irregularity learning 61 for controlling speed fluctuations, and tracking control 64 for performing phase matching between the capstan motor 74 and the cylinder motor 71. These outputs are sent to the motor drive circuit 75 via the digital filters 67 and 68. Added.

The servo system of the cylinder motor 71 has a cylinder rotation control 65 that controls the average value of the tape speed to match the command speed, a rotation unevenness learning 62 that controls speed fluctuation, and a phase between the capstan motor 74 and the cylinder motor 71. There is a head phase control 66 for performing adjustment, which is added to the motor drive circuit 72 via these digital filters 69, 70.

Next, the operation will be described.

These motors are usually brushless motors, but may or may not have brushes. Here, the cylinder motor 71 has a friction load between the cylinder and the tape, and the capstan motor 74 has a tape load. In addition, each motor has a factor that causes torque ripple and coking torque. The speed of the motor fluctuates due to these load fluctuations and pulsating torque. Although not shown, each motor has a speed detector that generates a rotation speed signal.
An encoder, a frequency generator tacho-generator, a pulse generator or the like can be adopted as the speed detector. There are four types of control of the cylinder motor 71 and the capstan motor 74: tape speed control 63, cylinder rotation control 65, tracking control 64, and head phase control 66.

The tape speed control 63 and the cylinder rotation control 65 control the motor speed according to the plurality of mode commands from the plurality of mode commands generated from the system control 76 and the rotation speed signals of the speed detectors of the respective motors. Note that this control is proportional (P) control. This control output compensates the gain and phase so that the control system becomes stable by the digital filters 67 and 69. Note that this filter may be an analog filter having similar characteristics. This output is sent to the motor drive circuits 72 and 75 to drive the motor and obtain a desired rotation speed.

On the other hand, the tracking control 64 and the head phase control 66 match the phases of both motors in order to accurately record and reproduce the video signal.

Although these control blocks are conventionally known, the present invention has a novel element shown by a broken line frame in FIG. This is the rotation unevenness learning 61,6 shown by the broken line frame in FIG.
2 is a control block that controls uneven rotation.

With this control configuration, it is possible to reduce the rotational unevenness of both motors and to record and reproduce stable images.

Although this example is shown by VTR, it controls spindle motor of floppy disk drive, polygon mirror drive motor of laser printer, cylinder / capstan motor control of digital audio tape device, linear motor control, etc. May be applied to.

[Advantages of the Invention] Since the present invention is configured as described above, it has the effects described below.

In the conventional technique, an expensive arithmetic unit that executes a large number of multiplications or additions at high speed is required when performing Fourier series expansion and inverse Fourier transform, and a lot of time is required for processing. However, the present invention does not require multiplication when performing speed fluctuation feature extraction and speed fluctuation correction signal generation, and achieves the same effect as the above control device with a simpler and cheaper arithmetic device. You can

As a result, it is possible to inexpensively provide a speed control device for an electric motor that is suitable for a VTR or the like that requires high constant speed.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of the first embodiment of the present invention, FIG. 2 is an internal configuration diagram of the microcomputer of the first embodiment, and FIG. 3 mainly shows internal processing of the microcomputer. FIG. 4 is a block diagram, FIG. 4 is a control flowchart and control table of a microcomputer for reducing speed fluctuations, and FIG. 5 is a graph showing an example of a Walsh function and a ternary function effective for reducing harmonics by 3 times. Figure 6 shows
FIG. 7 is a block diagram of the motor control of the VTR of the second embodiment, and FIG. 7 is a graph showing an example of the cosine Walsh function and the sine Walsh function. 8 ... Motor, 31 ... Magnetic pole position detector, 5 ... Encoder (speed detector), 6 ... Speed detection circuit, 9 ... Microcomputer, 7 ... Inverter, Is ... Current command, Ns
...... Speed command, 10 …… Counter, 11,16 …… Function generating means, 13,18 …… Variable component detecting means, 14,19 …… Control computing means, 15,20 …… Correction signal creating means, 51 ・ ・ ・… Speed comparison means, 52 …… Command signal creation means, 53 …… Proportional control means, 54
…… Addition means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeki Morinaga 4026 Kuji-machi, Hitachi City, Ibaraki Prefecture Hitate Works Ltd., Hitachi Research Institute (72) Nobuyoshi Muto 4026 Kuji-cho, Hitachi City, Ibaraki Prefecture Nitate Works Co., Ltd. Hitachi Research Laboratory (72) Inventor Seiichi Narima 1410 Inada, Katsuta City, Ibaraki Prefecture, Toda Factory, Hitachi Ltd. (72) Inventor, Yuji Sato 1410 Inada, Katsuta City, Ibaraki, Ltd., Tokai Factory, Hitachi Ltd. (72) Inventor Toshio Nakamoto 1410 Inada, Katsuta City, Ibaraki Prefecture Inside Hitachi Tokai Plant (72) Inventor Takashi Takahashi 5-22-1, Kamisuihonmachi, Kodaira-shi, Tokyo Inside Hitachi Microcomputer Engineering Co., Ltd.

Claims (7)

[Claims] 1. A speed detecting means for detecting a moving speed of a moving body, a speed controlling means for generating a current or voltage command from a speed detecting signal and a speed command signal obtained from the speed detecting means, and the speed controlling means. In the speed control device for a moving body, which comprises a driving means for changing the moving speed of the moving body in accordance with the command of, the speed control means is a difference between the speed detection signal obtained from the speed detecting means and the speed command signal. A speed error detecting means for obtaining a speed error signal from the step error generating means, a step function generating means for generating a step function value, and a multiplication value of the function value by the step function generating means and the speed error signal by the speed error detecting means. A variation component detecting means for detecting a velocity error variation component, a velocity error compensation component by multiplying the velocity error variation component by the variation component detection means and a function value by the step function generating means. And a correction signal generating means for making a signal, the speed control device for a moving body and outputs a current or voltage command. 2. A speed detecting means for detecting a moving speed of a moving body, a speed controlling means for generating a current or voltage command from a speed detecting signal and a speed command signal obtained from the speed detecting means, and the speed controlling means. In the speed control device for a moving body, which comprises a driving means for changing the moving speed of the moving body in accordance with the command of, the speed control means is a difference between the speed detection signal obtained from the speed detecting means and the speed command signal. Speed error detecting means for obtaining a speed error signal from, a step function generating means for generating a binary or ternary function value, and a product value of the function value by the step function generating means and the speed error signal by the speed error detecting means. And a fluctuation component detection means for detecting a speed error fluctuation component, and a speed error fluctuation component by the fluctuation component detection means and a function value by the step function generation means are multiplied. And a correction signal generating means for creating a speed error correction signal, the speed control device for a moving body and outputs a current or voltage command. 3. A speed detecting means for detecting a moving speed of a moving body, a speed controlling means for generating a current or voltage command from a speed detecting signal and a speed command signal obtained from the speed detecting means, and the speed controlling means. In the speed control device for a moving body, which comprises a driving means for changing the moving speed of the moving body in accordance with the command of, the speed control means is a difference between the speed detection signal obtained from the speed detecting means and the speed command signal. A speed error detecting means for obtaining a speed error signal from the counter, a count means for outputting a count value which is position or angle information in response to the speed detecting signal being obtained by the speed detecting means, and a counter for the count value. A step function generating means for generating a binary or ternary function value, and a product value of the function value by the step function generating means and the speed error signal by the speed error detecting means. A fluctuation component detecting means for calculating a speed error fluctuation component by calculation, a control calculating means for performing proportional or integral control calculation of the speed error fluctuation component by the fluctuation detecting means, an output signal by the control calculating means, and the step function generation A speed control device for a moving body, comprising: a correction signal generating means for generating a speed difference correction signal by multiplying a function value by the means, and outputting a current or voltage command. 4. A control means, a drive means for applying a current or a voltage to the controlled equipment, and an operation of the control equipment are detected as a current or voltage detection signal based on a command value given by the control means. In a control device comprising a detection means, the control means corresponds to the actual operation of the controlled device,
The step function generating means for generating the step function value and the multiplication value of the function value by the step function generating means and the detection signal detected by the detecting means are integrated and included in the actual operation of the controlled device. A fluctuation component detecting means for detecting a fluctuation component, a control calculating means for calculating proportional or integral control of the signal detected by the fluctuation component detecting means, a signal by the control calculating means and a step function value by the step function generating means. And a correction signal generating means for generating a correction signal by multiplying with. 5. The speed control means outputs the current or voltage command every time the speed detection means obtains a new speed detection signal M times (where M is an integer of 2 or more). The speed control device for a moving body according to claim 1, 2, or 3. 6. The operation timing of the fluctuation component detecting means and the correction signal generating means is limited to only the timing at which the function value is changed by the step function generating means. 5. The speed control device for a moving body according to 5. 7. The function value by the step function generating means is periodic, and a step function generating means is provided for each of the fluctuation component detecting means and the correction signal generating means, and the function by the step function generating means is provided. Value phase difference is 0 or ± π / 2ra
d is an integral multiple of d.
5. The speed control device for a moving body according to 5 or 6.