| 摘要 |
PURPOSE: To compress disturbance containing a model error related with a controlled system, to remove the disturbance under feedback control and to guarantee the stability of a loop in control using a disturbance observer. CONSTITUTION: A standard model part 4 provided by modeling a controlled system 3 is set parallelly with the controlled system 3, and command signals and respectively sent to the standard model part 4 and the controlled system 3. Then, an output difference between the controlled system 3 and the standard model part 4 is found. The open function of the loop is calculated based on the configuration of a dynamic compensation part 7 set to the standard model part 4, the transmission function of the standard model part 4 is calculated, and the compression function of a disturbance compression part 8 is found based on the ratio of both the functions. After the output difference is compressed by the compression function, it is fed back to the controlled system 3 and the standard model part 4. In that case, a loop stabilizing parameterε(0<ε<=1) is introduced into the compression function so that the degree of compression can be controlled.
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