ADJUSTABLE-SPEED CONTROL METHOD

摘要

PURPOSE:To reduce the saturation of a controlled variable output to avoid uncontrollability by correcting a desired value by a deviation generated in a virtual mechanical system equivalent model relative to an external force. CONSTITUTION:Not only a desired value generated by a desired value generator 4 but also a corrected value Ur obtained by a corrected value computer 5 are inputted to a desired value corrector 6. Also, said desired value corrector 6 outputs a corrected desired value Xm to a servo equipment 7. The corrected desired value Xm is fed back to an adder 35 to obtain the deviation (virtual deviation) of the controlled variable of a virtual model from the desired value thereof. Said virtual deviation is inputted to a differentiator 31 to obtain a virtual speed deviation.