| 摘要 |
A periodic disturbance suppressing control apparatus is designed to estimate and correct an inverse model of a transfer characteristic of a real system successively even in case of large condition change in the real system, and to realize a stable control system. A periodic disturbance of an object to be suppressed is outputted as a sensed periodic disturbance ISdn, Isqn of a direct current component. A difference between a signal obtained by multiplication of the sensed periodic disturbance ISdn, Isqn with a multiplier using a reciprocal Qn of a transfer characteristic, and a signal obtained by adding only a detection delay to a periodic disturbance suppressing command I * dn, I * qn, to estimate the periodic disturbance dI^dn, dI^qn. Thee periodic disturbance suppressing command is calculated by calculating a deviation between the estimated periodic disturbance dI^dn, dI^qn. A learning control section 29 corrects the reciprocal Qn of the transfer characteristic in accordance with a quantity obtained by diving a difference of the periodic disturbance suppressing command I * dn, I*qn during one sample interval by a difference of the sensed periodic disturbance during the one sample interval. |
