| 摘要 |
PROBLEM TO BE SOLVED: To provide a two-degree of freedom digital controller for making a control output quickly and highly precisely follow a target command without causing overshoot or steady-state deviation by using a low cost command device for applying only one target command. SOLUTION: This two-degree of freedom digital controller is provided with a feedforward compensator 13 for inputting the target command, and for outputting feedforward manipulated variables; a pre-compensator 10 for inputting the target command, and for outputting a feedforward command; a feedback compensator 15 for inputting a deviation between the feedforward command and a control output, and for outputting feedback manipulated variables; a holder 17 for inputting the sum of the feedforward manipulated variables and feedback manipulated variables, and for outputting the manipulate variables to a control object 18; and a sampler 19 for sampling the output of the control object 18, and for outputting a control output. The pre-compensator 10 is configured of a pre-delay unit 11 and a pre-filter 12. COPYRIGHT: (C)2009,JPO&INPIT
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