| 摘要 |
A digital servo controller generates a control signal from an analog observation signal using an output equation, state equation or a transfer function, and performs high precision servo-control with an inexpensive configuration. In a digital servo which executes an output equation yd[k]=C.x[k]+D.ud[k] and state equation x[k+1]=A.x[k]+B.ud[k]. The digital servo comprises a digital processor which outputs the second term D.ud[k] of the output equation by an analog circuit, and outputs the first term C.x[k] earlier for Ts/2. The digital servo also comprises a digital processor which executes the direct term of the output equation at period Ts/N (N is a 2 or higher natural number), which is 1/N of the basic operation period Ts, and updates the first term with the same delay time as the average delay time Ts/(2N) of the direct term. Also the digital servo comprises a digital processor which outputs the term alpha0 of the transfer function by the analog circuit, and outputs the other terms earlier for Ts/2. Also the digital servo comprises a digital processor which executes the term alpha0 of the transfer function at period Ts/N which is 1/N of the basic operation period Ts, and updates the other terms with the same delay time as the average delay time Ts/(2N) of the direct term.
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