| 摘要 |
PURPOSE:To obtain a device consisting of a tertiary servo-system having no ringing by providing an acceleration feedback loop, using primary and secondary terms of a tertiary transfer function of the servo-system as an adjusting parameter, and setting three poles to a non-oscillatory value. CONSTITUTION:An acceleration feedback circuit 6 is provided, and an accelera tion feedback signal (avf) correspond to an acceleration (av) of a motor is applied to an addition point 1. As a result, an error signal epsilon is outputted from the addition point 1. In this case, a transfer function alpha2 of an operational ampli fier A2 becomes alpha2 = BETA / {(tau1.S<3>+S<2>+beta(F1+F2.S)S+beta} = beta / {(tau1.S<3>+ S<2>(1+beta.F2)+beta.F1.S+beta}, and the primary term [beta-F1.S] and the secondary term [S<2>(1+beta.F2)] can be used as an adjusting parameter, respectively. In this way, two necessary conditions that one lowest pole is taken appropriately in the tertiary servo-system, and also the remaining two poles do not become oscillatory can be satisfied.
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