| 摘要 |
PURPOSE:To control a higher order system where a motor is connected to a load via an elastic substance element with high stability and high responsiveness. CONSTITUTION:A state feedback controller contains a detector which detects the motor velocity and the load velocity out of the state variables of a controlled system and a control means which feeds back the state feedback value obtained by multiplying the state variable of the controlled system by the state feedback gain value to the target value. Then an equivalent disturbance observer consists of the torque command input of the target value and the control state value, i.e., the output of the detector which are defined as the input. Thus the equivalent disturbance input is canceled by the equivalent disturbance observer with selection of a proper coefficient of the state feedback element. |
