| 摘要 |
PURPOSE:To minimize the delay of response regardless of the arithmetic processing time and to obtain the highly accurate servo performance, by using the outputs of a control arithmetic means and an estimation arithmetic means as the input of a motor driving means. CONSTITUTION:The command speed memory means 8 and 9 store the speed command given from a speed command means 7 and the given preceding speed command value. While the present speed memory means 10 and 11 store the present and preceding speed values of a traveling object to be controlled. A control arithmetic means 13 calculates the output value to be given to a motor driving means 14 from the speed command value and the present speed value. An estimation arithmetic means 15 estimates the output value to be given to the means during the arithmetic of the means 13 from the values stored in said memory means 8-11. Thus the means 15 performs several times of output arithmetic while the means 13 is performing the output arithmetic to the input of just a single time. In such a way, the delay of response is minimized regardless of the arithmetic time of the means 13. |
