| 摘要 |
<p>A position controller controls the position of an object to a target position based on a positional error and performs disturbance adaptation control depending on disturbance. When the angular frequency of disturbance is defined as ? and a sampling period is defined as T, following the adaptive law, sin(?T/2) is calculated, disturbance frequency is estimated and the value of sin(?T/2) changes a control variable for digital disturbance adaptation control. Therefore, in digital control, estimation accuracy of disturbance frequency can be improved and disturbance adaptation control can be accurately realized over a wide frequency range.</p> |
