| 摘要 |
PROBLEM TO BE SOLVED: To perform optimum control by providing a proportional differential control unit for outputting expected torque through a process of performing proportional differential control after finding the error of an output signal of a fuzzy before stage compensator and an output signal of a system. SOLUTION: A signal ym' (k) fuzzy-compensated is output from a fuzzy before stage compensator 210 by using the evolution operational algorithm. The error e' of an output signal ym' (k) of the fuzzy before stage compensator 210 and an output signal yp (k) of a system 240 is found, proportional differential control is performed, and expected torque v(k) is output from a proportional differential control unit 220. An actuator 230 multiplies the desired torque v(k) and the coefficient D together, calculates a control signal Du(k), and outputs it to the system 240.
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