| 摘要 |
PURPOSE:To control a motor stably for variable speed, by serially compensating a motor variable speed control system, using each finite time settling controller corresponding to the target value variation and disturbance from an impulse response of the motor variable speed control system. CONSTITUTION:Since the input series of a controller Dr(Z) to make a controlled value respond in finite time settlement to a target value will be E(Z) expressed as a formula I and its output series will be U(Z) expressed as a formula II, the controller Dr(Z) will be expressed as a formula III. On the other, the input series of a controller Dd(Z) to make a controlled value respond to a disturbance in finite time settlement will be X'(Z) expressed as a formula IV and its output series will be U'(Z) expressed as a formula V. The controller Dd(Z) will therefore be expressed as a formula VI. Consequently, using serial compensation controllers Dr(Z) and Dd(Z) as given by formulae III and VI, the optimum finite time settling response controller can be obtained. Application of this controller to the variable speed control device of a motor 4 will find a finite time settling response to both the target value (speed reference) and disturbance (load torque). |
