| 摘要 |
PROBLEM TO BE SOLVED: To decide a control input by deriving a model in which any non-linear element or disturbing element is not expressed positively to a model to be controlled for deriving the control input. SOLUTION: In this method for controlling the positions of an electric motor and a machine connected to the electric motor by prescribed amounts based on a control model, two discrete time equations 12, that is, a discrete time equation related with a speed and a discrete time equation related with a position are derived by using disturbing and non-linear elements as perturbation term, and by using an input as a constant value in a sampling block from a dynamic characteristic equation 7 expressing the dynamic characteristics of the electric motor and the machine. Then, the perturbation term is eliminated for the two discrete time equations 12, and one discrete time dynamic characteristic equation 14 expressed by a position signal, speed signal, input, and coefficient is derived, and a control input is decided based on the discrete time dynamic characteristic equation 14 from which the perturbation term is eliminated. |
