| 摘要 |
PROBLEM TO BE SOLVED: To provide an adaptive control method for periodic signal to properly cope with change, etc., of the external conditions of an controlled object with high convergent stability. SOLUTION: A frequency detection part 10 detects the object frequency componentωof a controlled object signal and outputs it as a signal (x) of frequencyω/2 before frequency compensation. A frequency compensation part 11 adds frequency q/2 to the frequencyω/2 to output a signal (x'). An adaptive filter W13 consists of two variables of an amplitude compensation term (a) and a phase compensation termϕ. The signal (x') is compensated in its amplitude and phase by the filter W13 and outputted as a signal (y). The signal (y) is squared at a frequency multiplication part 13, and the gain Aωand the transmission function Gωof phase delayΦωare applied to the signal (y) in a transmission system 14. Thus, the signal (y) is outputted as a signal (z). The external force (f) is added to the signal (z) at a point of application 15a, and the difference between the signal (z) and a target (d=0) is returned to the filter W13 as an error signal at a point of application 15b, and the filter W13 is successively updated by the gradient method.
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