| 摘要 |
PROBLEM TO BE SOLVED: To always obtain the best controlling characteristic by multiplying the ratio of an integration constant before switching and that after switching to an integral value so as to properly and instantaneously varying an integration constant without causing a mechanical shock corresponding to the state varia tion of a controlling object. SOLUTION: A position speed controlling part 10 finds a deviation between the detected value of the operation quantity of a motor 4 and a target value corresponding to a position command, integrates the deviation with the operator of a time element and multiplies an integral gain to an integral value to find an operation quantity to the motor 4. In addition, a first control means decides whether the motor 4 is in 'a stopping state (state 1)' or in 'an operating state (second state)', judges one of integral gains in the memory 14 in accordance with the decision and switch-sets the selected integral gain as the integral gain of an integration controller. A second control means multiplies the ratio of the integral gain before switching and that after switching to the integral value of the integration controller in switching the integral gain by the first control means. |
