| 摘要 |
PURPOSE:To realize optimal auto-tuning state at all times by estimating new specifications at a parameter identifying section at a time point when physical specifications of mechanical system are modified and then automatically setting new control gains corresponding to respective specifications based on thus estimated values. CONSTITUTION:A feedforward control section 7 receives an output signal S12 from a parameter identifying section 4, a target value S2 of speed signal and a target value S3 of acceleration signal, and outputs a torque command, i.e., a feedforward signal S11. A feedback gain calculating section 8 receives a target characteristic S18 of control system and an output signal S12 from the parameter identifying section 4, and outputs a signal S13 which is fed to a feedback control section 9. A disturbance compensating section 5 also receives the output signal S12 from the parameter identifying section 4 and then performs internal operation to output a disturbance compensation signal S6 which is fed to an adder/subtractor 10 and the parameter identifying section 4. |
