| 摘要 |
PURPOSE:To prevent a carrier from rolling upon finishing the stop process by performing the stop process quickly without sacrifice of stability in the position control during the stop process even if a positional detection error is present within some range. CONSTITUTION:A linear motor controller performs positional control of a carrier 7 using a low-pass filter 80, a proportional coefficient 81, a differentiation coefficient 82, an integrator 83, an integration coefficient error gain 85, and a differentiator 86. In the position control, a position 89 and a speed 90 are fed back and an operating amount 91 of inverter is calculated through a discrete time operation using a software. At a moment when the carrier 7 advances close to a target stop position and detected by a vehicle sensor, a switch 92 is turned ON. The low-pass filter 80 extracts a steady applying component 93 caused by a positional error from the operating amount. The applying amount 93 is then multiplied by an error gain G85 and fed back to the input of the integrator 83. |
