| 摘要 |
<p>A vibration suppression positioning controller for stable positioning carried out in a short time. The controller comprises an integrator (6) for integrating the differential coefficient of a desired position command, a subtracter (7) for subtracting a position command from the output of the integrator (6) so as to output a position command difference, a stable-type prefilter (1) for removing the same frequency component as the vibration pole of a feedback control system (5) when the differential coefficient of the desired position command is inputted, a command fixing means (2) for receiving the output of the stable-type prefilter (1) and the position command difference, judging that a command starts if the differential coefficient of the desired position command changes from zero to a nonzero value, judging that a command ends if the differential coefficient changes from a nonzero value to zero, outputting zero from the time when the position command difference becomes zero until the next command start after the command end, and outputting the output of the stable-type prefilter (1) as it is unless the time period, and a second integrator (4) for integrating the output of the command fixing means (2) and outputting the position command.</p> |
