| 摘要 |
PURPOSE:To provide a method for tuning the control system of a traveling body which can easily and rapidly determine PID gain. CONSTITUTION:With a method for turning a control system for performing PID control by configuring a feedback control system, the cross point between the characteristics of a speed command value omegaro and those of a speed feedback value omegar is obtained and at the same time the PID gain is determined on the basis of a time t1 from a start point O to a first cross point P1, a time t2 from the start point O to a fifth cross point P5, and integration values S1, S2, S3, S4, and S5 of ¦omegaro-omegar¦ at each section divided by a line from the starting point O to the first cross point and cross points (P1, P2), (P2, P3), (P3, P4), and (P4, P5). |
