| 摘要 |
In a position control device based on a current observer control for performing two degree of freedom control, calculation accuracy is improved using a fixed point processor. For a target position trajectory and position error, which are inputs of a two degree of freedom control system using an observer, relative values of which reference is the reference trajectory are used, so that the state variable of the observer can hold a relative distance from the reference position. Compared with the case of holding an absolute distance, a range where the value changes is smaller, and the number of effective digits of a decimal point can be increased, and calculation accuracy can be improved even if a fixed point method is used. As a consequence, control current becomes smooth and the generation of resonance and noise can be prevented in an acceleration period, and the generation of residual vibration can be prevented in a constant velocity period and deceleration period, and seek time can be decreased.
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