| 摘要 |
PROBLEM TO BE SOLVED: To provide a disturbance estimating device which can constitute a stable servo system even if an actual system and a model have differences in characteristic. SOLUTION: This disturbance estimating device 7 consists of a feedback loop stabilizing filter (H(s))10, a filter (P(s)) which has a dead zone wherein a model error signal is passed or cut off, and a disturbance estimation computing element (A(s))12. An actuator 4 has a transfer function model (Q(s)), a feedback gain (K)9, and a model error (r). The disturbance estimation computing element 12 receives the output of the filter 11 which has the dead zone and calculate J=(r-Δ)×(1+K×H(s)×Q(s))/Q(s) (r>Δ) and J=(r+Δ)×(1+K×H(s)×Q (s))/Q(s) (r<-Δ), thereby outputting a disturbance estimated value J. |
