| 摘要 |
A position control system receives a commanded speed (uli) and an actual speed (Yci), calculates a speed deviation (E(i)) by an arithmetic unit (1), and outputs a torque command signal (8) to a motor. A command dividing means (2) is provided, which divides the speed deviation (E(i)) into a predetermined small amount (2) and a remaining amount (E1(i)=E(i)-d). The former is incompletely integrated (4), whereas the latter is integrated (3). The two results are added by an arithmetic unit (7) to give the torque command signal (8). |
