| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a model which can reproduce the action of an actual actuator in a nonlinear area. SOLUTION: A proportional element 2 which outputs a proportional value of a control action signal as the difference between a request value and a feedback value, a limitting element 7 which is connected to the output side of the proportional element 2 and outputs a limit value when the control action signal exceeds a specific limit, a integral element 3 which represents the action of the actuator connected to the output side of the limitting element 7, and a feedback line 4 which feeds back the output of the integral element 3 as a feedback value are provided, and the gain of the integral element 3 is determined according to actual actuator characteristics, the limit value of the limiting element 7 is determined so as to match with the maximum moving speed of the actual actuator for the gain, and the gain of the proportional element 2 within the linear range is matched with the characteristics of the actual actuator.</p> |
