| 摘要 |
PURPOSE:To obtain a suitable feedforward gain and a feedback gain and to obtain an optimum control loop by obtaining the feedforward gain by learning, and calculating the feedback gain therefrom. CONSTITUTION:A suitable proportional gain K1 of a feedback loop is set. The value of the gain is calculated from a single motor, etc., and set to the value of the degree in which a system is not oscillated. A feedforward gain K is obtained by learning in the feedback loop state. The gain K1 is obtained from the gain K by calculating, and set. The gain K is obtained again from the gain K1 by learning. A control loop of the motor is composed of the gain K and the feedback gain, i.e., the gain K1. |
