| 摘要 |
PURPOSE: To provide an ultrasonic motor controller capable of enhancing control performance by automatically adjusting a compensator proper even if fluctuation in characteristics has existed. CONSTITUTION: This ultrasonic motor controller comprises a target value generator 6 for generating target values, an adjustable compensator 22 with the target value and controlled variable as input and the manipulated variable as output, an identification mechanism 10 for sequentially estimating the parameters of a control target from the manipulated variable and controlled variable, a compensator adjusting mechanism 12 for adjusting the parameters of the adjustable compensators from the results of the identification mechanism, and a λ adjusting mechanism 16 for adjusting the coefficients of oblivion as parameters of the identification mechanism 10 from the results of a fluctuation judging mechanism 14 judging the size of characteristic fluctuation from the identification error made by the identification mechanism. |
