| 摘要 |
PURPOSE:To prevent overshoot by increasing the imperfect integration term at a time point when the difference between a position signal and a moving signal drops below a predetermined reference value and setting the imperfect integration term to zero upon elapse of predetermined time, thereby holding a torque command and maintaining the response accuracy for a single pulse feed at a high level. CONSTITUTION:A difference Ep between a position signal and a moving signal fed from a mechanical system 1 is operated through an adder 2, and when the difference Ep drops below a predetermined reference value a speed control section 5 increases the imperfect integration term (k3) of a speed feedback loop, e.g., k3=1, and upon elapse of a predetermined time the imperfect integration term k3 is set to zero so as to hold the integrated value, thus holding a torque command Tcmd outputted to the speed feedback loop constant. The torque command Tcmd being obtained after a predetermined time later is held lower than the friction force of the mechanical system 1. By such an arrangement, response accuracy for a single pulse feed can be maintained at a high level, and overshoot can be prevented. |
