| 摘要 |
PURPOSE:To provide a controller with accurate control in motor drive system, by improving accuracy in estimating a quantity of feed back. CONSTITUTION:A motor driving system, which includes a motor 1 and a mechanical unit 3 driven by the motor 1 through a spring element 2, is used as a controlled system 4. In feed-back control, a feed-back quantity (Z) to an input quantity (X) is estimated through an observer 5 on the basis of the input quantity (X) inputted into the controlled system 4 and an output quantity (Y) from the control object 4. In this case, the observer 5 receives a nominal value (C') of a non-linear term, which is added to the controlled system 4. Consequently, accuracy in estimation of the feed-back quantity (Z) can be improved and accurate control can be carried out. |
