| 摘要 |
PROBLEM TO BE SOLVED: To lighten the damping phenomena and swelling phenomena, so as to improve disturbance suppression performance by equipping a velocity controller with an integrated gain variable operation part consisting of an acceleration variable part, which operates acceleration variable integrated gain and a grading operation part which decides the integrated gain at velocity control operation. SOLUTION: An integrated gain variable operation part 2 is composed of an acceleration variable part 3 and a grading operation part 4. Then, the acceleration variable part 3 operates an acceleration variable integrated gain Kia from a velocity command value and reference integrated gain Kio. Moreover, the grading part 4 operates the integrated gain Ki at velocity control operation from the acceleration variable integrated gain Kia and the reference integrated gain Kio. As a result, the setting of high integrated gain Ki becomes possible, except for the time of acceleration and deceleration and specified fixed velocity, so that a disturbance suppressive performance can be improved by lightening the damping phenomena and swelling phenomena. |
