| 摘要 |
<p>PROBLEM TO BE SOLVED: To control a stretching attitude of an endless belt while minimizing an increase in settling time.SOLUTION: A control device controls a stretching attitude of an endless belt, and includes: a plurality of deviation calculating means that are multi-input multi-output systems for controlling a plurality of outputs with a plurality of inputs, and calculates, for each of the plurality of inputs, deviation between each of the inputs and a target value corresponding to each of the inputs; a plurality of gain means that are arranged immediately after the plurality of respective deviation calculating means; and control means that calculates a plurality of output values from the plurality of inputs. The control device includes a first control mode intended to bring a deviation position of a belt to a reference position, and a second control mode intended to simultaneously reduce the deviation speed and skew of the belt to zero, and further includes gain setting means that calculates gain values of the plurality of gain means according to the control modes.</p> |
