| 摘要 |
An integration-proportional controller in a servo-control system comprises in one aspect, an integrator for integrating a deviation of an input speed reference signal from a feedback signal fed back from an object to be controlled, and a proportional amplifier connected with the integrator for amplifying the feedback signal, the integrator including a clamping function in which an output value therefrom and an initial value for the next successive integration are changed, when the output value as a result of integration of the deviation is out of a predetermined proper output region, to the nearest boundary of the predetermined region value. In another aspaect, a saturable integrator is provided for integrating a deviation of an input speed reference signal from a feedback signal fed back from an object to be controlled, a proportional amplifier is connected with the saturable integrator for amplifying the feedback signal, and a deviation clamping device is connected with the saturable integrator for limiting the upper and lower values of the deviation.
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