| 摘要 |
PURPOSE:To provide a positioning controller with an accurate positioning function, which prevents an abrupt increase in instruction speed and an impact against a motor when the motor is moved at the starting from a reference point. CONSTITUTION:Subtractor 101a and 101b calculate a deviation in signals from the outside and a time variation among these deviations. A grade calculation means 102a or 102b calculates a grade from the deviation or its time variation in cooporation with each membership function memory means 103a or 103b. Then, a minimum grade calculation means 104 calculates a minimum fuzzy variable grade value for a speed instruction value on the basis of control rules stored in a control rule memory means 105. A sum-set calculation means 106 calculates a sum-set value from this minimum value in cooporation with a membership function memory means 103c, and a center-of-gravity calculation means 107 calculates a center of gravity of the sum-set to determine the speed instruction value. |
