JP2504727B2 - Rotation control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation control device for reducing torque fluctuation of an electronic commutator motor and reducing uneven rotation.

[0002]

2. Description of the Related Art In recent years, an oblique scanning type magnetic recording / reproducing apparatus (hereinafter referred to as VT) for recording / reproducing a video signal by a rotary head.
As a rotary head drive motor, a capstan drive motor, a reel drive motor, etc. used for R), a direct current electronic commutator motor of small size, high efficiency and high reliability has been directly connected and used. In such a VTR,
The video signal is recorded on the magnetic recording medium by the rotary head that rotates at high speed by the rotary head drive motor. Therefore, when rotation unevenness occurs in the rotary head drive motor, the time axis called jitter of the reproduced video signal fluctuates, and the reproduced image displayed on the television receiver is shaken laterally to deteriorate the image quality. Therefore, it is necessary to suppress the torque fluctuation of the rotary head drive motor, which is a cause of uneven rotation, to a low level. On the other hand, there is a VTR in which an audio signal is recorded by a head fixed to a running tape. in this case,
When the capstan drive motor for running the tape has uneven rotation, the reproduced audio signal also undergoes time axis fluctuation called wow and flutter, which causes deterioration of the audio signal. Therefore, also in the capstan drive motor, it is necessary to suppress the torque fluctuation, which is a factor of uneven rotation, to a low level. Even in the reel drive motor, if the fluctuation of the torque is not suppressed, the tape tension of the tape running system fluctuates, which induces the rotation unevenness of the capstan drive motor and the rotary head drive motor, which causes the horizontal shake of the reproduced image and the reproduced sound. This will cause wow and flutter of the signal.

[0003]

As described above, in the VTR or the like, in order to ensure the stability of the reproduced signal, it is an important issue to suppress the torque fluctuation of the motor used. Conventionally, in order to suppress the rotation unevenness caused by such torque fluctuations of the motor, measures have been used by increasing the moment of inertia of the rotating body and increasing the gain of the motor control system. However, in a portable VTR, the moment of inertia of the rotary head drive motor and the capstan drive motor is reduced in order to reduce the weight and downsize. Further, in the case of direct connection drive, the rotation speed of the drive motor slows down, so it is impossible to suppress the rotation unevenness only by conventional measures such as increasing the moment of inertia of the motor and increasing the gain of the control system. Had a point.

Next, the cause of the uneven rotation of the motor will be described in detail. First, the torque fluctuation generated by the electronic commutator motor used for the rotary drive system of the VTR will be briefly described. This motor is a 4-coil, 6-pole magnetized electronic commutator motor that is driven by two-phase full-wave. FIG. 13 is an explanatory diagram showing the basic structure of the electronic commutator motor. (A) is a figure which shows the magnetization distribution of the rotor magnet 1, (b) is a figure which shows the coil arrangement of the stator coil board 2. FIG. In the figure, in the rotor magnet 1, S poles and N poles are alternately magnetized every 60 ° in mechanical angle. In addition, stator coils L1, L2, L3, and L4 are arranged on the stator coil substrate 2 at a mechanical angle of 90 °.
2, L3 and L4 are mechanical angles of 60 ° (ie N or S
The width of one permanent magnet of (1) is wound.
The coils L1, L2, L3, L4 are arranged with a phase difference of 90 ° in mechanical angle. Further, the rotational position of the rotor magnet 1 is detected, and the coils L1 to L
A first Hall element H1 and a second Hall element H2 for controlling the timing of energizing 4 are provided at the midpoints of the coils L1 and L2 and the midpoints of the coils L4 and L1, respectively.

14 and 15 are circuit diagrams showing an example of a motor drive circuit for driving an electronic commutator motor. FIG.
In, differential amplifiers AMP1 and AMP2 are differential amplifiers that amplify the outputs of the Hall elements H1 and H2. The inverting gate circuits INV1 to INV4 include differential amplifiers AMP1 and
The output of AMP2 is inverted and converted to a logic level, and the outputs of INV2 to INV4 are given to AND gate circuits AND1 to AND4. The AND gate circuits AND1 to AND4 are the transistors T shown in FIG.
A gate pulse is applied to r5 to Tr8. FIG.
The circuit 5 is a drive circuit unit of the coils L1 to L4 of the motor, and is a transistor Tr that is switched by receiving pulse signals from the output signals S1 to S4 of FIG.
5 to Tr8, transistors Tr1 to Tr4 for turning on / off the power supply Vcc2, resistors R1 to R13, and a capacitor C1
To C2 and coils L1 to L4.

The rotor magnet 1 of the motor is shown in FIG.
When rotating in the arrow direction X of (a), the outputs Ha1 and Ha2 at both ends of the Hall element H1 and the outputs Hb1 and Hb2 at both ends of the Hall element H2 in FIG. 14 and the inverting gate circuit IN.
Outputs A and B of V1 and INV3, AND gate circuit AN
The waveforms of the outputs S1, S2, S3 and S4 of D1 to AND4 are as shown in FIG.

The output waveforms of the Hall elements H1 and H2 are shown in FIG.
Output Ha1, Ha2, Hb1, Hb2 of the rotor magnet 1 is a repetitive waveform having one cycle in the section of one set of S pole and N pole, and the rotation angle of the rotor magnet 1 is 1
One cycle becomes 20 °. Hereinafter, the rotation angle 120 ° (mechanical angle 120 °) of the rotor magnet 1 is defined as an electrical angle 360 °. The Hall elements H1 and H2 have a mechanical angle of 90 °.
270 ° in electrical angle because they are installed separately
That is, output waveforms Ha1 and Hb1 having different mechanical angles of 90 ° in phase
Is obtained. Outputs Ha2 and Hb2 are output H
The signal has a phase opposite to that of a1 and Hb1.

The outputs Ha1 and Ha2 are differential amplifiers AMP1.
And the inverting gate circuit INV1 shapes the waveform into the rectangular wave A, and Hb1 and Hb2 are shaped into the rectangular wave B by the differential amplifier AMP2 and the inverting gate circuit INV3. The rectangular wave A and the rectangular wave B have a phase difference of 90 ° in electrical angle as shown in FIG. 16, and the inverting gate circuit INV2
Inverted waveform A ′ of signal A, inverted gate circuit INV
4 gives the inverted waveform B ′ of the signal B. Then, the AND gate circuits AND1 to AND4 cause the signals S1 to S1.
When S4 is obtained, as shown in FIG.
It becomes a high level in the section of °, and becomes a rectangular wave with a cycle of electrical angle of 360 °. This signal becomes a signal whose phase is delayed by 90 ° in the order of S1 → S2 → S4 → S3, and the timing of energization of the coils L1 to L4 is controlled by these rectangular wave signals.

The section in which the output S4 is at high level is T1,
T is a section in which the outputs S3, S1, S2 are at high level, respectively.
2, T3 and T4, in the section T1, the transistor T
The r1 and Tr6 are turned on, and a current flows from the coil L3 to the coil L1. In the section T2, the transistors Tr3 and Tr
8 is turned on, and a current flows from the coil L4 to the coil L2. Similarly, in the section T3, the transistors Tr2 and Tr5 are turned on and current flows from the coil L1 to the coil L3, and in the section T4, the transistors Tr4 and Tr7 are turned on and current flows from the coil L2 to the coil L4.

Next, the principle of torque generation of the electronic commutator motor will be described. In FIG. 16, N of the rotor magnet 1
A sinusoidal magnetic field is formed by the permanent magnets alternately magnetized in S. The relative positional relationship between the magnetic flux densities B1 to B6 and the coils L1 to L4 when the rotor magnet 1 is rotating is as shown in this figure.

In the section T1 shown in FIG. 17, the product of the current flowing in the coil L1 and the magnetic flux densities B2 and B3 in each section shown by the arrow, and the current flowing in the coil L3 and each magnetic flux density B5,
Torque is generated by the product of B6. Similarly, in section T2,
The product of the current flowing in the coil L2 and the magnetic flux densities B1 and B2, and the current flowing in the coil L4 and the magnetic flux densities B4 and B
The product of 5 and the torque is generated. Similarly, in the section T3, the product of the current flowing through the coil L1 and each magnetic flux density B3, B4,
Also, torque is generated by the product of the current flowing through the coil L3 and the magnetic flux densities B6 and B1. Further, in the section T4, the coil L2
Torque is generated by the product of the current flowing in the coil and the magnetic flux densities B2 and B3, and the product of the current flowing in the coil L4 and the magnetic flux densities B5 and B6.

Since the curves of the magnetic flux densities B1 to B6 have the same waveform, the sections T1 flowing through the coils L1 to L4 are the same.
If the switched current value from T4 to T4 is constant, the torque fluctuation per rotation of the rotor magnet 1 is as shown in FIG.
As shown in FIG. 8, one cycle has a repetitive waveform having a rotation angle (mechanical angle) of 30 °. In this way the rotor magnet 1
The rotational torque generated by the excitation of each coil L1 to L4 is in a state including an AC component having peaks and valleys in each section T1 to T4. For this reason, in the electronic commutator motor, a rotation torque variation of 12 cycles occurs for each rotation of the rotor magnet 1, which causes uneven rotation.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a rotation control device which suppresses rotation unevenness due to torque fluctuation of a motor.

[0014]

According to the invention of claim 1 of the present application, a rotor magnetized to a plurality of poles and rotatably held,
A rotation control device for a motor having a plurality of sets of exciting coils formed at a position facing the rotor and a stator including a rotation sensor for detecting a rotation position of the rotor, wherein a rotation position of the rotor is detected and a rotation angle is detected. Rotation angle detecting means for outputting information and energization switching period T of the exciting coil of the stator
_{For s} , the cycle is T _s / n (n = 1, 2, 3, ...
M) and M waveform data generating means for generating a repetitive waveform having a peak value of Ai (i is an integer 1 ≦ i ≦ M) in synchronization with the rotation angle information output from the rotation angle detecting means. A fixed data generating means for outputting a predetermined constant data, an addition calculating means for performing an addition operation on the output data of the M waveform data generating means and the output data of the fixed data generating means, and a rotation control signal for controlling the rotation of the motor. And a gain control means for controlling the gain of (1) according to the torque fluctuation correction data output from the addition calculation means.

According to a second aspect of the present invention, a rotor rotatably held by being magnetized to a plurality of poles, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotational position of the rotor are detected. A rotation control device for a motor having a stator including a rotation sensor for detecting rotation angle of a rotor and outputting rotation angle information, and reducing rotation torque fluctuation caused by a change in magnetic flux density of the rotor. In order to achieve this, a torque fluctuation correction data calculation means for creating torque fluctuation correction data for changing the exciting current of the exciting coil so as to have an approximately inverse relationship with the magnetic flux density of the rotor, and the gain of the rotation control signal for controlling the rotation of the motor Gain control means for controlling the torque fluctuation correction data output from the addition calculation means.

According to the invention of claim 3 of the present application, the torque fluctuation correction data calculation means is repeated L times per one revolution of the motor when the number of times of switching the coil energization per one revolution of the motor is K. K, 2K, 3K, ...) Cosine wave peak values a _K , a _2K , a _3K , ..., Sine wave peak values b _K , b _2K , b _3K ,. The arithmetic processing is performed based on the average value a ₀ of the output torque per one rotation and the rotation angle information output from the rotation angle detection means,
It is characterized in that the torque fluctuation correction data is obtained.

According to the invention of claim 4 of the present application, the torque fluctuation correction data calculation means is repeated L times per one rotation of the motor when the number of times of switching the coil energization per one rotation of the motor is K (times) ( L is K, 2K, 3K, ...
· Integer) Position shift angles α _K , α _2K , α _3K for the rotation angle information output from the rotation angle detection means of the cosine wave,
_.. and torque fluctuation correction data are obtained by performing arithmetic processing based on the positional deviation angles β _K , β _2K , β _3K , ... With respect to the rotation angle information output from the rotation angle detection means of the sine wave. It is what

According to a fifth aspect of the present invention, a rotor rotatably held by magnetizing a plurality of poles, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotational position of the rotor are detected. A rotation control device for a motor having a stator including a rotation sensor for detecting rotation position of a rotor and outputting rotation angle information, and a coil energization switching frequency per rotation of the motor is K times. Is repeated L times per rotation of the motor (L is an integer of K, 2K, 3K, ...) Cosine wave peak values a _K , a _2K , a _3K ,. Crest value b _K , b _2K ,
b _3K , ..., Torque fluctuation correction for calculating torque fluctuation correction data by performing arithmetic processing based on the average value a ₀ of the output torque per one rotation of the motor and the rotation angle information output from the rotation angle detection means. Data calculation means, gain control means for controlling the gain of the rotation control signal for controlling the rotation of the motor by the torque fluctuation correction data output from the torque fluctuation correction data calculation means, and cosine wave wave in the torque fluctuation correction data calculation means. Torque fluctuation correction data for changing the high values a _K , a _2K , a _3K , ... And the _peak values b _K , b _2K , b _3K , ... Of the sine wave waveform by a small amount corresponding to the variations of each motor. And an adjusting means.

According to a sixth aspect of the present invention, a rotor rotatably held by magnetizing a plurality of poles, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotational position of the rotor are detected. A rotation control device for a motor having a stator including a rotation sensor for detecting rotation position of a rotor and outputting rotation angle information, and a coil energization switching frequency per rotation of the motor is K times. And L is repeated per rotation of the motor (L is an integer such as K, 2K, 3K, ...) Cosine wave values a _K , a _2K , a _3K , ... And the cosine wave. Misalignment angle α _{K with} respect to the rotation angle information output from the rotation angle detection means of
α _2K , α _3K , ..., Peak value of sine wave b _K , b _2K ,
b _3K , ... and position deviation angles β _K , β _2K , β _3K , with respect to the rotation angle information output from the rotation angle detection means of the sine wave.
..., the average value a of the output torque per one rotation of the motor
₀ , torque fluctuation correction data calculation means for calculating the torque fluctuation correction data by performing calculation processing based on the rotation angle information output from the rotation angle detection means, and torque fluctuation correction for the gain of the rotation control signal for controlling the rotation of the motor Gain control means for controlling by the torque fluctuation correction data output from the data calculation means, and position deviation angles α _K , α _2K , α _3K , ... And sine wave positions of cosine waves in the torque fluctuation correction data calculation means. It is characterized in that it is provided with a position deviation adjusting means of a torque fluctuation correction waveform for changing the deviation angles β _K , β _2K , β _3K , ... By a minute amount in accordance with the variation of each motor.

[0020]

The present invention having the features as described above, claims 1, 2,
According to the third aspect of the invention, the torque fluctuation waveform during one rotation when the torque of the motor is not corrected is measured in advance, and a reciprocal function that becomes constant when this torque fluctuation waveform is multiplied is assumed. This function is approximately obtained by addition calculation of a plurality of repetitive waveforms having a frequency that is an integral multiple of the energization switching frequency of the exciting coil of the stator and a constant, and this is used as torque correction data. When the motor control signal is modulated by this torque correction data via the gain control means and given to the motor drive circuit, a constant rotational torque is obtained regardless of the rotational position of the rotor, and uneven rotation is reduced.

Further, according to the inventions of claims 4, 5, and 6, the torque fluctuation waveform during one rotation when the motor torque is not corrected is measured in advance, and this torque fluctuation waveform is multiplied to be constant. Assume an inverse function. This function
Performs addition processing with a plurality of cosine waves having a frequency that is an integral multiple of the energization switching frequency of the excitation coil of the stator, a plurality of sine waves, and a constant, and also makes the phase angle of the cosine waves and sine waves one revolution of the rotating body. It is set for each frequency of the cosine wave and the sine wave so as to correspond to the positional deviation of each peak of the torque fluctuation waveform and the variation of each motor. This is the torque correction data. When the motor control signal is modulated by this torque correction data via the gain control means and given to the motor drive circuit, a constant rotational torque is obtained corresponding to the rotational position of the rotor and its variation and individual motors, and uneven rotation occurs. Will be reduced.

[0022]

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS. 1, 2 and 3. FIG. 1 is a schematic configuration diagram of a rotary drive device according to a first embodiment of the present invention. In FIG. 1, electronic commutator motor unit 101
Is an electronic commutator motor (hereinafter simply referred to as a motor) 10
2. Rotational speed detection signal generator (referred to as FG) 103,
And a rotational position detection signal generator (referred to as PG) 104. As shown in FIG. 13A, the motor 102 includes a rotor magnet 1 with 6-pole magnetization and the rotor magnet 1 shown in FIG.
It has the stator coil substrate 2 shown in FIG. The rotation speed detection signal generator 103 has, for example, one rotation per rotation of the rotor magnet 1 proportional to one rotation of the motor 102.
The pulse signal P1 of 100 to 1000 pulses or more is output. The rotational position detection signal generator 104 outputs a pulse signal P2 of one pulse per one rotation of the rotor magnet 1 at a specific rotational position.

The pulse signals P1 and P2 are the rotation angle detecting device 1
Given to 05. The rotation angle detection device 105 is the motor 10
The rotation angle information corresponding to the rotation angle from the specific rotation position 2 is output, and the rotation speed detection signal generation device 103 and the rotation position detection signal generation device 104 constitute rotation angle detection means. The rotation angle detection device 105
For example, it is composed of a counter circuit and counts the pulse signal P1 using the pulse signal P2 as a reset signal.
The rotation angle data output from the rotation angle detection device 105 is
When the pulse signal P2 is input, it becomes zero, and the count value is incremented by 1 each time the pulse signal P1 is input, which indicates the rotation angle information of the motor 102.

FIG. 2 is a waveform diagram showing the waveform of each part of the rotation control device shown in FIG. FIG. 2A is a rotational torque fluctuation waveform of the motor 102 when torque correction is not performed,
The rotation torque changes at every energization switching cycle T _s (T ₁ , T ₂ , T ₃ , T ₄ ). DC component generation circuit 110
2 is fixed data generating means for outputting predetermined constant data regardless of the rotational position of the motor 102, as shown in FIG. Here, the output value is data corresponding to the constant 1. The first cosine wave generation circuit 111, corresponding to the rotation angle information output from the rotation angle detection device 105, generates cosine wave data that is repeated 12 times per rotation of the motor 102, as shown in FIG. It is output, and its peak value is a ₁ . Second cosine wave generation circuit 1
Reference numeral 12 denotes a motor 102 corresponding to the rotation angle information output from the rotation angle detection device 105, as shown in FIG.
The cosine wave data that is repeated 24 times per revolution is output, and its peak value is a ₂ . Further, the third cosine wave generation circuit 113 corresponds to the rotation angle information output from the rotation angle detection device 105, as shown in FIG.
The cosine wave data that is repeated 36 times per one rotation of the motor 102 is output, and its peak value is a ₃ . The cosine wave generation circuits 111, 112, 113 each constitute a waveform data generation unit that is generated in synchronization with the rotation angle information.

The addition arithmetic circuit 106 includes a DC component generating circuit 110 and first to third cosine wave generating circuits 111, 112 and 1.
13 is an addition calculation unit that adds each output data of the waveform data generation unit 13 and outputs the addition result as torque fluctuation correction data. The output waveform is shown in FIG. The gain control circuit 107 is a circuit that amplifies or attenuates the output of the motor control signal generation circuit 108 that controls the rotation of the motor 102, and its gain is controlled by the torque fluctuation correction data output from the addition calculation circuit 107. It is a thing. The motor drive circuit 109 energizes the coils L1 to L4 of the motor 102 with a drive current corresponding to the voltage of the motor control signal output from the gain control circuit 107.

The crest value a ₁ of the cosine wave output from the first cosine wave generation circuit 111 is determined as follows. That is, FIG.
As shown in (a), the torque fluctuation waveform of the motor 102 is measured in advance, the reciprocal of this torque fluctuation waveform (a) is calculated, and from this reciprocal value, the peak value of the waveform repeated 12 times per motor revolution is A1. Then, the peak value A1 is obtained by frequency analysis such as discrete Fourier transform. Further, an average torque a ₀ of the torque fluctuation shown in FIG. 2A is obtained, and a value obtained by dividing the peak value A1 by the average torque a ₀ is defined as a ₁ (a ₁ = A1 / a ₀ ). Similarly, the peak value a ₂ of the cosine wave output from the second cosine wave generation circuit 112 is the peak value of a waveform that repeats 24 times per motor revolution from the reciprocal of the torque fluctuation waveform shown in FIG. Then, the peak value A2 is obtained by frequency analysis such as discrete Fourier transform. Also based on the average torque a _0, a value of the peak value A2 divided by average torque a ₀ (a ₂ = A2
/ A ₀ ). Similarly, the third cosine wave generation circuit 113
The cosine value a ₃ of the cosine wave output from the wave crest value of the waveform that repeats 36 times per one rotation of the motor is A3 from the reciprocal of the torque fluctuation waveform of FIG. Determined by frequency analysis. And based on the average torque a _0, determining the peak value a ₃ as divided by the average torque _{a 0 (a 3 = A3 /} a 0).

3 (a), 3 (b) and 3 (c) are explanatory views of motor torque correction. (A) is a torque fluctuation waveform of the motor before correction. (B) is a waveform obtained by converting the torque fluctuation waveform shown in (a) into its inverse by a calculation process. That is, the waveform shown in (b) is used as a torque fluctuation correction waveform, and torque correction for modulating the current of the motor drive circuit is performed. At this time, when the rotation angle detection device 105 is displaced, the torque fluctuation correction waveform is as shown in FIG. 3B, and the torque fluctuation waveform when the torque fluctuation correction process is performed with this waveform is shown in FIG. It will be as shown in. Here, the torque greatly changes in the vicinity of the coil energization switching timing, which greatly affects the uneven rotation of the motor.

In the first embodiment of the present invention, the torque fluctuation correction waveform obtained by the addition arithmetic circuit 106 shown in FIG. 1 is as shown in FIG. 3 (d). Even if there is an angular deviation between the torque fluctuation waveform of FIG. 3A and the torque fluctuation correction waveform of FIG. 3D, the peak value of the correction waveform is lower than that of the waveform of FIG. The torque fluctuation waveform resulting from the process is as shown in FIG. That is, the peak value of the torque fluctuation is small in the section Tx, and the motor 1
It is possible to obtain an effect that the adverse effect on the rotational unevenness of 02 is significantly reduced.

(Second Embodiment) Next, a second embodiment of the present invention will be described. FIG. 4 is a schematic configuration diagram of the rotation control device in the second embodiment. In the figure, the same components as those of the rotation control device of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted. In FIG. 4, a rotation angle detection device 105 includes a rotation speed detection signal generation device 103 and a rotation position detection signal generation device 104 as the motor 102 rotates.
The rotation pulse signal of is converted into rotation angle data (θ °),
This is given to the torque fluctuation correction data calculation device 201. The torque fluctuation correction data calculation device 201 has, for example, a memory for holding data, calculates the torque fluctuation correction data according to the rotation angle information, temporarily stores the result in the memory, and according to the rotation angle signal. It outputs the data and constitutes torque fluctuation correction data calculation means. The output of the torque fluctuation correction data calculation device 201 is given to the gain control circuit 107. Motor control signal generation circuit 108
The gain control circuit 107 controls the amplification factor of the rotation control signal of the
9 given. The motor drive circuit 109 is the same as that described in the first embodiment, and its output is applied to the motor 102.

FIG. 2B shows a signal (W12) repeated 12 times for one rotation of the motor as described above.
12 can be represented by the following formula (1). a ₁ cos (12 · θ °) (1) FIG. 2C shows a signal (W24) which is repeated 24 times for one rotation of the motor, and this signal W12 is expressed by the following equation (2). You can a ₂ cos (24 · θ °) (2) FIG. 2 (d) shows a signal that repeats 36 times for one rotation of the motor (W3
6), and this signal W36 can be expressed by equation (3). a ₃ cos (36 · θ °) (3) In the torque fluctuation correction data calculation device 201, equations (1) to
From the data of (3) and the data corresponding to the DC component a ₀ , the operation represented by the following expression (4) is performed, and the operation result data is output.

[Equation 1]

The data after this calculation is represented by a graph in FIG. Therefore, when this data is superimposed on the motor control signal as an analog signal and given to the motor drive circuit 109, a substantially constant drive torque is obtained regardless of the rotational position of the motor 102, as shown in FIG.

In equations (1) to (4), the rotation angle is θ
In the actual processing, the number of pulses of the pulse signal P1 is N pulses per one rotation of the motor, and the count data output from the rotation angle detection device 105 is n (0 ≦ n ≦ N). −1), the rotation angle can be expressed by the following equation (5). Therefore, the calculation may be performed by substituting 360.n / N instead of θ in the equation (4). θ = 360 ° ・ n / N (5)

As described above, according to the second embodiment, the values of the peak values a ₀ , a ₁ , a ₂ , a ₃ shown in the equations (1) to (4) are used to correct the output torque fluctuation of the motor. Is calculated in advance, and the rotational position of the motor is detected, and then the correction data is calculated by using the rotational position detection data. The correction data is temporarily stored in the memory of the torque fluctuation correction data calculation device 201 and the motor rotation is performed. The torque fluctuation correction data is given to the gain control circuit 107 according to the angle. Then, the rotation control device of the motor 102 has a practical effect that the amount of data to be stored is small.

In recent years, a so-called microcomputer servo has been widely used in which a rotation control signal of the motor control signal generation circuit 108 is calculated by using a control microprocessor. In addition to the operation of processing the motor control signal by the control microprocessor, the torque fluctuation correcting operation can be realized without adding a new circuit by calculating the torque fluctuation correcting data of the formula (4) by the calculating processing. It is possible to obtain a great effect in practical use.

(Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIG. The rotation control device according to the third embodiment has the same configuration as that of FIG. 4, and only the processing contents of the torque fluctuation correction data calculation device are different. FIG. 6A shows the contents of calculation processing of the rotation angle detection device 105 and the torque fluctuation correction data calculation device 202. In general, a signal that vibrates L times for one rotation of the motor can be expressed by the following equation (6). a _L cos (L ・ θ °) ＋ b _L sin (L ・ θ °) ・ ・ ・
(6) Here, a _L and b _L are the amplitudes of the cosine wave and the sine wave that vibrate L times per one rotation of the motor. Therefore, the calculation process for obtaining the torque fluctuation correction data is such that when the number of times of switching the coil energization per revolution of the rotating body is 12, the repetitive signals W12, W24, W36 of the second embodiment described above are used.
Let c ₁₂ , a ₂₄ , and a ₃₆ be the peak values of the cosine wave waveform of, and the peak values b ₁₂ , b of the sine wave of the signals W12, W24, and W36.
_{When 24} and b _{36 are set} and the output torque average value a _{0 of} the motor 102 is set, the torque fluctuation correction data represented by the equation (7) is obtained based on the rotational position data n.

[Equation 2]

In the torque fluctuation correction data calculation device 202 shown in FIG. 5, the calculation shown in the equation (7) is performed based on the rotational position data n from each of the signals W12, W24, W36, and the torque fluctuation correction corresponding to the rotational position is corrected. The torque correction function C (n) is output as data to the gain control circuit 107 shown in FIG.

According to this embodiment, one motor revolution makes one
A signal that repeats 2, 24, 36 times of torque fluctuations can be automatically corrected regardless of the value of the pulse number N of the pulse signal P1 of the rotation speed detection signal generator 103, and is constant regardless of the rotational position of the motor. There is an effect that the driving torque of is obtained.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described with reference to FIGS. The entire block of the rotation control device according to the present embodiment is the same as that of FIG. 5, but the calculation processing content of the torque fluctuation correction data calculation device 203 is different. FIG. 7 is a waveform diagram showing each component of the torque fluctuation correction signal and the rotational position detection signal.
Is a torque fluctuation waveform of the motor 102. In general, even if the rotational position detection signal generator 104 is attached to the motor 102 to generate the pulse signal P2, its generation time does not always match the coil energization switching time in phase. As shown in FIG. 7E, the rotational position detection signal P2
When the pulse rising position of is a rotation angle of 0 °, this rotation angle of 0 ° may be different from the coil energization switching position. Therefore, it is preferable to add a term in consideration of the angular deviation to the waveform of the repetitive signal shown in the equation (6). A signal having a vibration waveform L times per one rotation of the motor in consideration of such an angle deviation can be expressed by the following equation (8). a _L cos (L ・ θ ° + α _L ) + b _L sin (L ・ θ ° + β
_L ) ・ ・ ・ (8)

Therefore, the calculation process for obtaining the torque fluctuation correction data is such that when the number of times of switching the coil energization per revolution of the rotating body is 12, the above-mentioned peak values a ₁₂ , a ₂₄ ,
a ₃₆ and peak values b ₁₂ , b ₂₄ , b ₃₆ , and each signal W12,
Position shift angles α ₁₂ , α ₂₄ , with respect to the rotation angle information output from the rotation angle detection device 105 for the cosine waves of W24 and W36,
Assuming that α ₃₆ is the displacement angle with respect to the rotation angle information output from the rotation angle detection device 105 of the sine wave is β ₁₂ , β ₂₄ , and β ₃₆ , the average output torque a _{0 of the} motor 102 and the rotation angle data n Then, in the following equation (9), the torque correction function C
(N) can be represented.

(Equation 3)

In the torque fluctuation correction data calculation device 203 of this embodiment, the torque correction function C (n) shown in equation (9) is calculated as shown in FIG. 6 (b), and the torque fluctuation corresponding to the rotational position is calculated. The correction data is output.

Now, in the rotation angle detecting device 105, as shown in FIG.
The rotation angle θ of the motor 102 from the rising edge of the pulse signal P2 shown in (e) is detected. Therefore, the rising edge of this pulse wave is the 0 ° position of the rotation angle information, and the signals W12 and W2 shown in FIG. 7B to FIG.
The torque fluctuation correction waveform of W4 and W36 is angle θ1 at 0 ° position.
There is a deviation of ° (mechanical angle). Expression (10) shown below is a torque correction function in which a positional deviation correction term is added only by the cosine wave of Expression (9) described above.

[Equation 4]

By using the torque correction function of the equation (10), it is possible to automatically cope with the positional deviation of the rotor with respect to the rotation angle information output from the rotation angle detection device 105, and to perform stable torque fluctuation correction. There is an effect that the effect can be realized.

According to the present embodiment, one per one rotation of the motor
It is possible to correct the repeated component of the torque fluctuation of 2, 24, and 36 times, and by installing the rotation position detection signal generator 104, even if the output position of the rotation position detection signal does not coincide with the coil energization switching position, the angular deviation is corrected. It can be processed by calculation, and an effect that a constant drive torque can be obtained regardless of the rotational position of the motor is obtained.

(Fifth Embodiment) Next, a fifth embodiment of the present invention will be described with reference to FIG. FIG. 8 is a schematic configuration diagram of the rotation control device in the fifth embodiment. Also in this figure, the same parts as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted. The correction gain adjustment circuit 301 outputs data for adjusting variations in output torque for each motor. The torque fluctuation correction data calculation device 204 obtains correction data for reducing the torque fluctuation of the motor 102 by calculation processing based on the rotation angle data of the motor 102 output from the rotation angle detection device 105. The torque fluctuation correction data calculation device 204 adjusts the variation in the output torque of each motor based on the peak value adjustment data output from the correction gain adjustment circuit 301, and thus stabilizes regardless of the variation in the output torque of the motor during mass production. The arithmetic processing that can obtain the torque fluctuation correction effect is performed.

FIG. 9 is a block diagram showing the calculation processing contents of the correction gain adjustment circuit 301 and the torque fluctuation correction data calculation device 204. As already described in the third embodiment of the present invention, the calculation process for obtaining the torque fluctuation correction data when the output torque of each motor 102 does not vary,
The number of times the coil energization is switched per revolution of the rotating body is 12
If the number of times is set, it can be expressed by the equation (7) as described above.

On the other hand, in order to adjust the variation in the output torque of each motor 102, that is, the variation in the peak value of the repetitive signal waveform of each signal W12, W24, W36,
A correction gain adjustment circuit 301 is provided. The correction gain adjustment circuit 301 uses a cosine wave crest value a ₁₂ , in order to calculate correction data in the torque fluctuation correction data calculation device 204.
a ₂₄ , a ₃₆ adjustment amounts Δa ₁₂ , Δa ₂₄ , Δa ₃₆ , sine wave peak values b ₁₂ , b ₂₄ , b ₃₆ adjustment amounts Δb ₁₂ , Δb ₂₄ ,
It outputs Δb ₃₆ and functions as the torque fluctuation correction data adjusting means.

In the torque fluctuation correction data calculation device 204, each adjustment amount Δ output from the correction gain adjustment circuit 301.
a ₁₂ , Δa ₂₄ , Δa ₃₆ , Δb ₁₂ , Δb ₂₄ , Δb ₃₆ , peak value a ₁₂ , a ₂₄ , a ₃₆ , peak value b ₁₂ , b ₂₄ , b ₃₆ , output torque average value a ₀ and rotational position data. The following equation (11) is calculated based on n, and the torque fluctuation correction function C (n) corresponding to the rotational position is output to the gain control circuit 107.

(Equation 5)

According to this embodiment, one rotation of the motor 12,2
With respect to the vibration component of the torque fluctuation of 4,36 times, each motor has a different output torque, and even if there is a variation, it can be stably corrected, and a constant drive torque can be obtained regardless of the rotational position of the motor. It has the effect of being obtained.

(Sixth Embodiment) Next, a sixth embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a schematic configuration diagram of the rotation control device in the sixth embodiment of the present invention. In this figure, the same parts as those in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted. The correction waveform position deviation adjustment circuit 401 outputs data for adjusting the variation of each vibration component of the torque fluctuation with respect to the rotation angle information peculiar to the motor to the torque fluctuation correction data calculation device 205. Torque fluctuation correction data calculation device 205
Calculates the correction data for reducing the torque fluctuation of the motor 102 by calculation processing based on the rotational position information. That is, the variation of each repetitive component of the torque fluctuation for each motor with respect to the rotational position is adjusted by the rotational position deviation adjustment data output from the correction waveform positional deviation adjustment circuit 401, and thus the variation of the output torque waveform of the motor during mass production is adjusted. Irrespective of the above, arithmetic processing that can obtain a stable torque fluctuation correction effect is performed.

FIG. 11 is a block diagram for holding the calculation processing contents of the rotation angle detection device 105, the correction waveform position deviation adjustment circuit 401 and the torque fluctuation correction data calculation device 205. As already described in the fourth embodiment of the present invention, the calculation process for obtaining the torque fluctuation correction data when there is no variation in the repeated waveform of the torque fluctuation of the motor with respect to the rotational position is expressed by equation (9). On the other hand, in the present embodiment, a correction waveform position deviation adjusting circuit 401 is provided, and in order to calculate the correction data in the torque fluctuation correction data calculation device 205, the position deviation angle α ₁₂ , of the cosine wave of each of the signals W12, W24, W36, Adjustment amount of α ₂₄ and α ₃₆ Δα ₁₂ , Δ
α ₂₄ , Δα ₃₆ , and the adjustment amounts Δ of the position deviation angles β ₁₂ , β ₂₄ , β ₃₆ of the sine waves of the signals W12, W24, W36.
β ₁₂ , Δβ ₂₄ , Δβ ₃₆ are corrected. Waveform position deviation adjustment circuit 40
Output from 1. Here, the correction waveform position deviation adjustment circuit 40
1 achieves the function of the position deviation adjusting means of the torque fluctuation correction waveform.

In the torque fluctuation correction data calculation device 205, the adjustment amounts Δα ₁₂ , Δα ₂₄ , Δα ₃₆ , Δβ ₁₂ , Δβ ₂₄ , Δ output from the correction waveform position deviation adjusting circuit 4011.
β ₃₆ , peak values a ₁₂ , a ₂₄ , a ₃₆ , peak values b ₁₂ , b ₂₄ , b
₃₆ , the positional deviation angles α ₁₂ , α ₂₄ , α ₃₆ , the positional deviation angles β ₁₂ , β ₂₄ , β ₃₆ , the output torque average value a _0, and the rotational position data n, the calculation shown in the equation (12) is performed. The torque fluctuation correction function C (n) corresponding to the rotational position is output to the gain control circuit 107.

(Equation 6)

FIG. 12 is a waveform diagram showing the torque fluctuation waveform and the signals W12, W24, W36 of the respective correction waveforms. In general, an assembly error is often generated in a motor. As shown in FIG. 13, the error includes relative position errors between the Hall elements H1 and H2 that detect the rotational position of the rotor magnet 1 and the coils L1 to L4 of the stator. There are mounting errors of the rotational position detecting device 104, uneven magnetization of the rotor magnet 1, and the like. As a result, the torque fluctuation waveform is distorted with respect to the torque fluctuation waveform of FIG. 2A, as shown in FIG. The angle shown at the top of FIG.
The rotation angle detection device 1 based on the pulse signal P2 shown in (e)
The rotation angle of the motor 102 detected in 05. FIG.
The waveform shown in (b) is the signal W12 obtained by converting the signal included in the reciprocal of the torque fluctuation waveform shown in FIG. 12 (a), and is the timing of the angle θ1 with respect to the rotation angle data output from the rotation angle detection device 105. If the correction data of the signal W12 is calculated by shifting the above, the torque fluctuation can be corrected without causing the angular deviation.

The waveform shown in FIG. 12 (c) is a signal W obtained by converting the signal included in the reciprocal of the torque fluctuation waveform shown in FIG. 12 (a).
24, the correction data of the signal W24 is calculated and created by shifting the timing by the angle θ2 with respect to the rotation angle data output from the rotation angle detection device 105. Similarly, FIG.
The waveform shown in (d) is the signal W36 obtained by converting the signal included in the reciprocal of the torque fluctuation waveform in FIG.
If the correction data of the signal W36 is calculated by shifting the timing by 3, the W36 component can be corrected without angular deviation.

That is, the rotor magnet 1 is magnetized and the coil L of the stator coil substrate 2 is caused by the assembly error of the motor.
Even if there is a variation in 1 to L4 and an angular deviation of each torque fluctuation component occurs, there is an effect that a stable correction effect can be obtained by finely adjusting the phase of the waveform of the correction data for each frequency component. Although the present embodiment has been described with respect to the case where an electronic commutator motor with 4-coil and 6-pole magnetization is driven by two-phase full-wave drive, the present invention is not limited to a motor having another configuration and half-wave drive or three-phase drive. It goes without saying that it is also effective for the driving method of.

[0055]

As described in detail above, according to the inventions of claims 1, 2 and 3, the torque fluctuation during one rotation of the motor is measured in advance, and the relationship of the reciprocal of the torque fluctuation waveform is obtained. The following function is calculated and created by the waveform generation circuit or the torque fluctuation correction data calculation device. Therefore, a motor control signal for correcting the torque fluctuation of the motor can be automatically generated, and if this signal is given to the motor drive circuit, a constant torque output can be obtained regardless of the rotation angle of the rotating body. Therefore, it is possible to easily reduce the rotation unevenness of the low-inertia electronic commutator motor and the like, and it is possible to realize an excellent rotation control device that can reduce the size and weight of the magnetic recording / reproducing device.

Further, according to the inventions of claims 4, 5 and 6 of the present application, in addition to the effects of claims 1, 2 and 3, variations in the characteristics of the respective motors generated during the production of the electronic commutator motor, that is, the rotor Even if there is unevenness in magnetization, variations in the excitation characteristics of the exciting coil of the stator, variations in the mounting position of the rotational position detector (PG) with respect to the rotor, etc., the output torque can be automatically corrected to be constant. The effect that an excellent rotation control device can be realized can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a rotation control device in a first embodiment of the present invention.

2A and 2B are waveform diagrams showing a procedure for synthesizing torque fluctuation correction waveforms in the first embodiment of the present invention, in which FIG. 2A is a torque fluctuation waveform diagram, and FIGS. 2B, 2C, and 2D are torque diagrams. It is a waveform diagram which shows the waveform component which repeats 12, 24, 36 times in 1 rotation of a motor among fluctuation correction waveforms, (e) is constant data,
(F) shows a torque fluctuation correction waveform obtained by combining the waveform components.

FIG. 3 is an explanatory diagram for performing torque fluctuation correction according to the first embodiment of this invention. (A) is a torque fluctuation waveform, (b) is a conventional torque correction waveform, (c) is a torque fluctuation waveform corrected by (a) and (b), (d) is a torque fluctuation correction waveform of the first embodiment, (E) is a torque fluctuation waveform corrected by (a) and (d).

FIG. 4 is a block diagram showing a schematic configuration of a rotation control device in a second embodiment of the present invention.

FIG. 5 is a block diagram showing a schematic configuration of a rotation control device in third and fourth embodiments of the present invention.

FIG. 6A is a block diagram showing calculation contents of a torque fluctuation correction data calculation device according to a third embodiment of the present invention;
(B) is a block diagram showing the contents of calculation of the torque fluctuation correction data calculation device in the fourth embodiment.

FIG. 7 is a waveform diagram showing a procedure for synthesizing torque fluctuation correction waveforms in the fourth embodiment of the present invention, (a) is a waveform diagram of torque fluctuation waveforms, and (b), (c), (d) are FIG. Motor 1
Waveform diagram of the component that repeats rotation 12, 24, 36 times, (e)
Shows a waveform diagram of the rotational position detection signal waveform.

FIG. 8 is a block diagram showing a schematic configuration of a rotation control device in a fifth embodiment of the present invention.

FIG. 9 is a block diagram showing calculation contents of a torque fluctuation correction data calculation device and a correction gain adjustment circuit in a fifth embodiment of the present invention.

FIG. 10 is a block diagram showing a schematic configuration of a rotation control device in a sixth embodiment of the present invention.

FIG. 11 is a block diagram showing a correction waveform position deviation adjustment circuit and a torque fluctuation correction data calculation device of a motor rotation control device according to a sixth embodiment of the present invention.

FIG. 12 is a waveform diagram showing a procedure for synthesizing torque fluctuation correction waveforms in the sixth embodiment of the present invention, where (a) is a waveform diagram of the torque fluctuation waveform, and (b), (c), and (d) are FIG. 6E is a waveform diagram of a component of the torque fluctuation correction signal that is repeated 12, 24, and 36 times for one rotation of the motor, and FIG.

13A and 13B are explanatory views showing the structure of an electronic commutator motor, where FIG. 13A is a plan view of a rotor magnet, and FIG. 13B is a plan view of a stator coil substrate.

FIG. 14 is a circuit of a front stage portion of a motor drive circuit.

FIG. 15 is a circuit of a switching unit of a motor drive circuit.

16 is a waveform diagram showing signal waveforms for explaining the operation of the motor drive circuit shown in FIGS. 14 and 15. FIG.

FIG. 17 is a schematic diagram showing a positional relationship between a coil and a rotor magnet when switching energization to each coil.

FIG. 18 is a waveform diagram showing a torque fluctuation waveform.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 rotor magnet 2 stator coil substrate L1-L4 coils 101 electronic commutator motor unit 102 electronic commutator motor 103 rotational speed detection signal generator 104 rotational position detection signal generator 105 rotational angle detection device 106 addition arithmetic circuit 107 gain control circuit 109 Motor drive circuit 110 DC component generation circuit 111 First cosine wave generation circuit 112 Second cosine wave generation circuit 113 Third cosine wave generation circuit 201 to 205 Torque fluctuation correction data calculation device 301 Correction gain adjustment circuit 401 Correction waveform position Offset adjustment circuit

Claims (6)

(57) [Claims] 1. A stator including a rotor that is magnetized into a plurality of poles and is rotatably held, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotation sensor that detects a rotational position of the rotor. And a rotation angle detection means for detecting a rotation position of the rotor and outputting rotation angle information, and a cycle of T _s / with respect to an energization switching cycle T _s of the exciting coil of the stator. n (n =
1, 2, 3, ... M) and the peak value is Ai (i is 1 ≦
A repetitive waveform of i ≦ M) is generated in synchronization with the rotation angle information output from the rotation angle detection means.
Waveform data generating means, fixed data generating means for outputting predetermined constant data, and addition calculating means for performing an addition operation on the output data of the M waveform data generating means and the output data of the fixed data generating means, A rotation control device for a motor, comprising: a gain control means for controlling the gain of a rotation control signal for controlling the rotation of the motor, based on the torque fluctuation correction data output from the addition calculation means. 2. A rotor including a rotor magnetized to have a plurality of poles and rotatably held, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotation sensor for detecting a rotational position of the rotor. A rotation control device for a motor having: a rotation angle detecting means for detecting a rotation position of the rotor and outputting rotation angle information; and the excitation for reducing a rotation torque fluctuation caused by a change in magnetic flux density of the rotor. The torque fluctuation correction data calculation means for creating torque fluctuation correction data for changing the exciting current of the coil so as to have an approximately inverse relationship with the magnetic flux density of the rotor, and the gain of the rotation control signal for controlling the rotation of the motor are A rotation control device for a motor, comprising: a gain control unit that controls the torque variation correction data output from the addition calculation unit. 3. The torque fluctuation correction data calculation means,
When the number of times of switching the coil energization per rotation of the motor is K, the peak value a _{K of the} cosine wave that is repeated L times per rotation of the motor (L is an integer of K, 2K, 3K, ...). , A _2K , a _3K , ..., The peak value b _{K of} the sine wave,
b _2K , b _3K , ..., The average value a ₀ of the output torque per one rotation of the motor, and the rotation angle information output from the rotation angle detecting means are used to perform arithmetic processing to obtain the torque fluctuation. 3. The motor rotation control device according to claim 2, wherein correction data is obtained. 4. The torque fluctuation correction data calculation means comprises:
The number of coil energization changes per motor revolution is K
Position, the position of the cosine wave that is repeated L times per rotation of the motor (L is an integer of K, 2K, 3K, ...) With respect to the rotation angle information output from the rotation angle detection means. Based on the deviation angles α _K , α _2K , α _3K , ... And the position deviation angles β _K , β _2K , β _3K , ... With respect to the rotation angle information output from the rotation angle detecting means of the sine wave. 4. The motor rotation control device according to claim 3, wherein the torque fluctuation correction data is obtained by performing a calculation process on. 5. A rotor including a rotor which is magnetized into a plurality of poles and is rotatably held, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotation sensor which detects a rotational position of the rotor. A rotation control device for a motor having: a rotation angle detecting means for detecting a rotation position of the rotor and outputting rotation angle information; and a coil energization switching frequency per rotation of the motor is K times, Repeated L times per revolution of the motor (L is K, 2K, 3
K, ... an integer) Cosine wave peak values a _K , a _2K ,
a _3K , ..., Crest value of sine wave b _K , b _2K , b _3K , ...
.., Average value a of output torque per one rotation of the motor
₀ , and torque fluctuation correction data calculation means for calculating the torque fluctuation correction data by performing calculation processing based on the rotation angle information output from the rotation angle detection means, and the gain of the rotation control signal for controlling the rotation of the motor. Gain control means for controlling by the torque fluctuation correction data output from the torque fluctuation correction data calculation means, and cosine wave peak values a _K , a _2K , a _3K , ... In the torque fluctuation correction data calculation means.
.., and crest values of sine wave waveforms b _K , b _2K , b _3K , ...
And a torque fluctuation correction data adjusting means for changing a small amount according to the variation of each motor. 6. A rotor including a rotor that is magnetized into a plurality of poles and is rotatably held, a plurality of sets of exciting coils formed at positions facing the rotor, and a rotation sensor that detects a rotational position of the rotor. A rotation control device for a motor having: a rotation angle detecting means for detecting a rotation position of the rotor and outputting rotation angle information; and a coil energization switching frequency per rotation of the motor is K times, Repeated L times per revolution of the motor (L is K, 2K, 3
K, ... an integer) Cosine wave peak values a _K , a _2K ,
a _3K , ... and the positional deviation angles α _K , α _2K , α of the cosine wave with respect to the rotation angle information output from the rotation angle detecting means.
_3K , ..., Crest value of sine wave b _K , b _2K , b _3K , ...
And the positional deviation angles β _K , β _2K , β _3K , ... Of the sine wave with respect to the rotation angle information output from the rotation angle detecting means.
Average value a ₀ of output torque per one rotation of the motor,
A torque fluctuation correction data calculation means for calculating a torque fluctuation correction data based on the rotation angle information output from the rotation angle detection means, and a gain of a rotation control signal for controlling the rotation of the motor, the torque fluctuation. Gain control means for controlling by the torque fluctuation correction data output from the correction data calculation means, and position deviation angles α _K , α _2K , α _3K of cosine waves in the torque fluctuation correction data calculation means.
.., and position deviation angles of sine wave β _K , β _2K , β _3K , ・
A rotation control device for a motor, comprising: a position deviation adjusting means for a torque fluctuation correction waveform that changes a small amount according to the variation of each motor.