| 摘要 |
PROBLEM TO BE SOLVED: To make follow-up error with respect to the eccentricity of a medium smaller by combining a feedback control system and a learning system to compensate stepwise frictional disturbance. SOLUTION: A learning control system 82 is provided between a feedback arithmetic part 80 and a driving part 86 and when a time equivalent to one round of revolution of a medium is deffined as TL, it obtains an unknown driving current function Irepeat (t) which is repeated from the starting time t=0 of the one revolution of the medium to a completing time t=TL as an approximation function I repeat (t) which is made to be approximately estimated with heights of strips of respective sections which are obtained by dividing the time TL into N and which have section numbers i=0 to (N-1) by a learning algorithm and it performs a feedforward control by outputting a learning signal I repeat in synchronization with the revolution of the medium after the learning. Moreover, the learning control part 82 may be provided between a positional signal detecting part 76 and the feedback arithmetic part 80 to learn a positional function TES repeat (t) as the similar approximation function TES repeat (t).
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