| 摘要 |
PURPOSE: A unified PID(proportional integral differential) position controller for a linear motor and a gain setting method using the same are provided to allow for an ease of gain setting, while effectively increasing the stiffness of the linear motor. CONSTITUTION: A unified PID position controller comprises a first mixer for extracting an error between the actual position and the reference position of a mover; a PID gain control unit including a first proportional control section for outputting a proportional gain with respect to the output value of the first mixer, a first differential control section for outputting a differential gain with respect to the output value of the first mixer, and a first integral control section for outputting an integral gain with respect to the output value of the first mixer; a second mixer for summing output values of the PID gain control unit; a position gain control unit including a second differential control section for obtaining a differential gain with respect to the actual position of the mover, a second proportional control section for taking, as an input, the output value of the second differential control section, and a third proportional control section for taking, as an input, the actual position of the mover, wherein the position gain control unit sums the output value of the second proportional control section and the output value of the third proportional control section and outputs the result; and a third mixer for summing output values of the PID gain control unit and the position gain control unit.
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