| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a position controller for operating feedback compensation only when any modeling error or disturbance occurs on the basis of open loop control by series compensation, and for hardly generating overshoot to the target value, and for suppressing drop quantity to the disturbance. <P>SOLUTION: In an internal model controller configured to perform open control by an internal model filter 24, a disturbance observer 28 constituted of a second nominal model 29 and a disturbance observer filter 30 is further added, and when any disturbance occurs, a deviation between a control object 20 and a second nominal model 29 is extracted as the output of a comparator 31, and feeded back by the disturbance observer filter 30, and applied to the input side of the control object 20 as an estimated disturbance by an adder 33, and offset with disturbance added through a subtractor 34. <P>COPYRIGHT: (C)2008,JPO&INPIT |
