| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to perform a high-speed rise control without creating so-called high frequency resonance of mechanical system, by controlling a controlled body through the control of a drive section at the difference from the value corresponding to a polynomial used as a target value for each sampling period of a controlled body. SOLUTION: Based on an evaluation function, that is, an acceleration pattern where the square integrated value of a double differential value of the acceleration of a controlled body 1 becomes minimum, the target velocity, the integrated value of the target velocity, and the target velocity as feed forward are expressed by the polynomial related to time. And by using the polynomial, the target velocity for each sample time, the integrated value of the target velocity, and the target velocity as feed forward are calculated by an arithmetic control section 3, the drive section 2 is controlled depending upon the difference from the position and velocity for each sample time of the controlled body 1, thereby driving the controlled body 1. By doing this, the high-speed rising control can be performed without creating the so-called high frequency resonance of mechanical system. |
