| 摘要 |
PURPOSE:To obtain excellent control characteristics by providing a load- magnitude detecting means outside a servo loop, and calculating appropriate initial values by the result of its detection and converging optimim control parameter values. CONSTITUTION:In the case of a serial printer, the working speed of a controlled system 5 is detected with a speed detecting means 6 such as an encorder etc., and converted into a speed data. Then its speed data is sent to a data keeping means 7 and a speed subtractor 9 and subtracted from a speed directing data, and a speed error Ve is calculated and sent to a PID control means 1. Besides, a load detecting means 10 judges which cartridge of four colors is mounted and which not, and initial values of control parameters are calculated with an initial value calculating means 11 on the basis of this judgment. Then, the initial values are sent to a control parameter calculating means 8, and the values of PID control parameters are calculated on the basis of data from the data keeping means 7 and the initial values from the initial value calculating means 11, and set in the PID control means 1. |
