| 摘要 |
<p>PURPOSE: To execute the automatic tuning of a positioning servo system without causing the overshoot. CONSTITUTION: In the case of performing the automatic tuning, the control structure of a system is turned to sliding mode control, the number (m) of times of the changeover of a variable gain is obtained (a step 106), the number (m) of times of the gain changeover is used as a feature amount for tuning and the ratio Jn /KTn of the set value Jn of the moment of inertia to the set value KTn of a torque constant is adjusted (the step 107). Other than the time of executing the automatic tuning, normal control, that is a proportional integral control is typically executed (the step 109).</p> |
