| 摘要 |
PROBLEM TO BE SOLVED: To provide a belt-positioning device that can stop at accurate target position, in a short time. SOLUTION: An integral value is calculated, and the accuracy of control is improved by the active use of the integral value. A code S in Figure, showing an example of an FB controller of a continuous system, is a Laplacian operator, and codes TI11, TI12, T11, T12 are the constants of the controller. Because performing calculation by a microcomputer in actuality, the controller becomes a discrete system controller. For example, a block diagram of the continuous system is deformed to take out an integration term, and is made to be a discrete system. The difference e, between a target position instruction and a control target position, is inputted to the FB controller and is calculated, so that a control amount Ical2 is found. By having a Reset signal enter an integrator, integration amount is adjusted. Although a belt overreaches a stop position or stops before the stop position, when a value of the integration amount is different from a value required in time of the stop, stop control is more accurately executed by adjusting the integration amount. COPYRIGHT: (C)2006,JPO&NCIPI
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