| 摘要 |
PURPOSE:To realize the satisfactory control system being free from an overshoot by setting the upper limit to an integral value of a target value deviation, and setting the upper limit value concerned to an integral value of a target value deviation in a stationary response state or a value being above its value. CONSTITUTION:In a motor 6, an angular velocity omega(k) detected by an incremental encoder passes through a feedback loop 8, is multiplied by a constant (c), and given to an arithmetic part 1 as an output y(k). The angular velocity omega(k) passes through a feedback loop 7 and is multiplied by a feedback gain K1 and given to an arithmetic part 5. In the arithmetic part 1, a deviation e(k) of a target value R(k) and said output y(k) is calculated, integrated by a block 2 and given to a limiter arithmetic part 3. A value of x0 derived by the limiter arithmetic part 3 is multiplied by a feedback gain K0, and given to an arithmetic part 5. In the arithmetic part 5, a difference of outputs of K0 and K1 is derived and a control input u(k) is derived. |
