| 摘要 |
PROBLEM TO BE SOLVED: To make reducible the time for converging by controlling the gain of a position compensation integration gain outputting means based on the output of a positional error computing element to minimize an overshooting value also with respect to the erroneous input in such a stepping state that the polarity of the positional error of a target object is not changed for a long time. SOLUTION: The positional compensator 2 of type 2 of a position controller is provided with a position compensation integration gain controlling means 8 controlling the gainω1 of the position compensation integration gain outputting means 4. A positional error computing element 1 computes a positional error (e) being a difference between a position commanding signal Xo inputted from outside and an actual position signal X fed back from a position detector to output to the position compensation gain outputting means 8 of the compensator 2 and the means 8. This position controller properly controls the transmitting characteristics of the compensator 2 of type 2 according to the error (e). Thereby unnecessary integration is avoided to reduce the overshooting quantity and to reduce the converging time.
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