| 摘要 |
PURPOSE:To improve follow-up of speed control by obtaining a first compensating amount by a first compensator based on a speed command and a real speed of a linear synchronous motor, and obtaining a second compensating amount by a second compensator based on a position command and the real position. CONSTITUTION:A first compensator 21 feeds back to compensate a vehicle speed by using an actual speed 101 calculated by a speed/position calculator 20 and a speed command Vr from operating means to obtain a first compensating amount 111. Thus, a response of the speed 101 to the command Vr and a response of the speed 101 to disturbance are separately decided. An integrator 22 integrates the command Vr, calculates a position command Xr, and outputs it to a second compensator 23. Then, the compensator 23 feeds back to compensate the vehicle position by using the command Xr and an actual position 112 calculated by the calculator 20 to obtain a second compensating amount 113. |
