| 摘要 |
PROBLEM TO BE SOLVED: To provide a constant-value stepping method and a fixed-rate stepping method to be carried out by a closed loop and a contact value stepping method generating device and a fixed rate stepping method generation device, having effects to quicken a reach settlement time to a final target value, by including a signal processing and signal converting means, a target value setting means with every training interval, a means for correcting and mixing the target value, and a learning control means for reducing a control deviation, and for shortening a settlement time and a rising time which are respectively appropriate for achieving an expert control method for gradually correcting a target value for the purpose of control object training so that an output can easily reach a prescribed value. SOLUTION: The training control apparatus includes a means (1) for converting the pulse width of a variable angular speed frequency signal whose amplitude is fixed; a means (2) for obtaining a step signal with each training interval from a pulse signal and a training interval signal; a means (3) for giving a training target value with every training interval; a means (4) for generating a training target value approaching a closed loop trainer target value with each training interval; a means (5) for generating a trainer target value, by overriding a closed loop trainer target value with the closed loop trainer target value; a means (6) for controlling learning so that control deviations or conversion control deviations can be reduced; and a means (7) for changing the vibration frequency according to the input step width. COPYRIGHT: (C)2011,JPO&INPIT
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