| 摘要 |
PURPOSE:To make a prediction error difficult to generate and to make a controlled variable match with a command value with high precision by subtracting disturbance, calculated from a controlled variable and a command value at the time of sampling, from the command value. CONSTITUTION:A disturbance estimation unit 17 outputs a disturbance estimated value as a correction quantity to be inputted to a subtracter 20 based on the output of a subtracter 20 and the controlled variable detected value of a line 13. Further, a prediction unit 14 predicts a controlled variable which is a subtraction idle time precedent from the output of a delay element 11 and the controlled variable detected value of the line 13. Further, the feedback loop formed of a controlled system 10 receiving the output of the subtracter 20 as a command value, a compensator 7, the line 13, and a subtracter 6 digitally calculates a manipulated variable to the controlled system 10 so that the controlled variable detected value of the line 13 follows up the command value, and controls the controlled variable of the controlled system 10. Then the disturbance calculated from a specific expression by using the controlled value and command value at the time of current sampling is subtracted by the subtracter 20 from the command value to compensate the tracking error due to the error between the controlled variable predicted value and actual controlled variable. |
