| 摘要 |
PROBLEM TO BE SOLVED: To enhance control accuracy by calculating the integral term of difference between a target value and a detection value for control amount digitally thereby eliminating the steady error at the time of feedback control. SOLUTION: A phase shift (difference) T is calculated (S21) by subtracting a measuring time from a phase reference time data, and the shift T is divided by the reciprocal DK2r of a phase integration gain DK2 (<1.0), in order to multiply the shift T by the phase integration gain DK2, thus calculating a quotient Q and a remainder R (S23, S24). A quotient integration data PIErr and a remainder integration data PIErr2 are then calculated by integrating the values Q and R (S25, S26). When the absolute value of the PIErr2 is larger than or equal to the value of DK2r, the quotient integration data PIErr is incremented or decremented by 1 and the value of the PIErr2 is cleared to 0 (S27-S30). |
