| 摘要 |
PURPOSE:To obtain sufficiently rapid and non-oscillatory response even if time constant of a filter is large, by a method wherein poles and zero points of a controller and a filter are in special arrangement. CONSTITUTION:A controller 1 is constituted by gain Dc, a pole of origin P1=0, a negative real pole P1=-1/T0 (T0>0) and two negative zero points Z1=-1/T1, Z2=-1/T2 (T1, T2>0). A filter 3 is constituted by one negative real pole P3=-1/Tf (Tf>0) and one negative real zero point Z3=-/T3 (T3>0). The poles and zero points are arranged by determining T0-T3, Tf so that condition of Z3>(P2 and P3)>(Z2 and Z1). In this constitution response having high frequency characteristics and being non-oscillatory can be obtained even if time constant of the filter is made large so as to decrease influence of the speed detection error. |
