| 摘要 |
PURPOSE:To decide a control parameter for featuring the operational characteristics of a controlled system without being limited by the operational pattern of a real machine to which a servo motor is fitted. CONSTITUTION:When a vibration amplitude alpha and a vibration frequency (x) of real velocity are estimated from the real position of a controlled system 2 (the position of the servo motor) to be detected by a position sensor 3 and the vibrating state of the controlled system 2 is decided from that estimated vibration amplitude alpha while a velocity command for stopping the controlled system is applied from a stop instruction part 9 to a velocity control part 7, a velocity control parameter is adjusted so that the vibration amplitude alpha can get lower than a previously set value. Concretely, when the vibration frequency (x) is lower than a fixed rate in comparison with a frequency fs of sampling time at the velocity control part 7, the velocity control parameter is gradually enlarged but when the vibration frequency (x) is higher than the fixed rate in comparison with the frequency fs, the velocity control parameter is gradually reduced. |
