| 摘要 |
PROBLEM TO BE SOLVED: To easily actualize requested response characteristics. SOLUTION: Amplifiers 102 and 102 are provided behind a position controller 1 and a speed controller 2. The amplifier 101 multiplies the value outputted from the position controller 1 by an adjustment gain Kg and outputs the result as a speed command ωr. The amplifier 102 multiplies the value outputted from the speed controller 2 by the adjustment gain Kg and outputs the result as a torque command Tr. Consequently, the balance does not vary with Kg, but varies only in the time direction (i.e., u) once a position loop gain Kp and a speed loop gain Kv are determined. Response specification can, therefore, be adjusted only by adjusting one parameter, i.e., the adjustment gain Kg and the requested response characteristics can easily be actualized. |
