| 摘要 |
PURPOSE:To enhance the adaptability and stability of a controlling system at the same time, by changing the gain of counter input deviation characteristic according to a difference between a desired value and an actual value. CONSTITUTION:From a comparing circuit 21a, a deviation Y between a desired value Ys and an actual value Y is applied to a motor 3 via an operational amplifier circuit 21b. In the meantime, from a set division circuit 22a, the output of the specified controlled variable Yi of a properly divided difference between the desired value Ys, and a controlled variable initial-value at a control starting time point against the desired value Ys is generated. Then, from a gain setting circuit 22b, the output of a gain Ni/ Y according to a difference between the desired value Ys and the controlled variable Yi is generated. Besides, by a comparing circuit 22c, the actual value Y and the controlled variable Yi are compared with each other, and a selection circuit 22d is turned ON/OFF. Then, from the selection circuit 22d, by the output of the comparing circuit 22c, the gain Ni/ Y is applied to the operational amplifier 21b. As a result, the adaptability and stability of a controlling system can be improved together. |
