| 摘要 |
PURPOSE:To highly accurately control positioning by computing GD<2> on the basis of the size, mass, etc., of a machine system, computing optimum control gain in accordance with the change of the GD<2> and changing the control gain of a speed control system so that a deviation from the control gain is reached to zero. CONSTITUTION:Inertia moment is computed on the basis of information such the size and mass of the machine system and the optimum control gain is computed in accordance with the inertia moment. The obtained control gain is compared with the control gain of the speed control system and the control gain of the speed control system is changed so that its deviation is reached to zero. Even if the inertia moment of the machine system including a carried material is varied, the dispersion of stop positions can be suppressed to an extremely low value.
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