| 摘要 |
PURPOSE:To set an optimum feed forward gain even at the time of the inertia of a control system is not known by obtaining the feed forward gain by learning. CONSTITUTION:A feed forward gain K is determined by learning in accordance with a formula I where (t), VER and U are the time, the deviation value, and the command value respectively. That is, the feed forward gain K is determined to converge the deviation value VER to a minimum value zero. The feed forward gain value is determined by learning in this manner. Thus, this method can be applied to even the control system where the load inertia is considerably varied. |
