| 摘要 |
PURPOSE:To automatically tune a gain parameter by a method wherein an evaluation function at a reference parameter is compared with an evalation function at a peripheral parameter and the gain parameter is changed on step by one step to the direction of a smallest evaluation-function value. CONSTITUTION:An initial gain is set in a speed control circuit 6 by an initial- reference-value setting means 2 for a gain parameter. In an evaluation-function calculating means 16, an evaluation function is operated on the basis of individual pieces of feature data measured by a feature-data measurement means 14. A reference parameter and a peripheral parameter around it are set in the speed control circuit 6, and an evaluation function for them is found. When the value of the evaluation function at the peripheral parameter is smaller, a peripheral parameter having a smallest value is used as a new reference parameter, and the calculation is performed repeatedly. When the evaluation function at all peripheral parameters is larger than that at the reference parameter, a tuning operation is finished at this time. |
