| 摘要 |
<p>A method of controlling a servomotor capable of easily introducing a sliding mode control by utilizing a conventional linear control technique. A phase plane in the sliding mode is treated as in the linear mode, and the torque instruction τ0 thus determined is added to a switch input τ1 to obtain a corrected torque instruction τ. The switch input τ1 is determined in accordance with a sign representing positive or negative of the torque instruction τ0, a position error ε determined during the computation process of the torque instruction τ0 and signs representing positive or negative of various data such as an integration value of a velocity loop.</p> |
