| 摘要 |
PURPOSE: To make the man-to-machine action similar to the man-to-man action by providing a virtual model part for inputting an outer manipulated variable and a reference set value and operating the change amount of a controlled system and a control part for supplying the manipulated variable to a motor controller corresponding to the operated output. CONSTITUTION: When a team A pulls a rope R wound around a pulley P of a motor-driven tug-of-war machine 2 with tensile force f1 , that tensile force f1 is measured through a tensile force meter 3 and inputted to a virtual model part 4. Besides, a reference set value f2 strengthened/weakened with the passage of time and previously programmed by a ROM so as to be approximated to a real tug of war is inputted to the virtual model part 4 as well. At the virtual model part 4, xr , xr , xr are operated from f1 , f2 , k' and K and at a control part 5, a manipulate signal (u) is operated from difference xr -X between a displaced amount (x) of the tug-of-war machine 2 of a controlled system 1 and a change amount xr , the kinetic equation at the time of modeling the controlled system 1 and the kinetic equation of the motor-driven tug-of-war machine 2. Corresponding to this operated output, a manipulated variable outputτis applied to the motor-driven tug-of-war machine 2.
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