| 摘要 |
PURPOSE:To adjust automatically a controller in a short time by identifying a parameter from the response of a servomotor whose parameter is unknown and obtaining a control parameter of a compensating value by means of the algorithm. CONSTITUTION:After the revolving speed of a DC servomotor is converted into a voltage signal by a tachogenerator 2, the signal is converted into a digital value by an A/D converter 3. After the motor drive current is converted into a voltage signal by a current detecting resistor provided with a motor drive amplifier 4, the signal is converted into a digital value by the A/D converter 3. An identifying device 6 estimates a parameter of the motor 1 by the Lyapunov method or the like by using the value and a regulator 7 decides the control parameter by a partial coefficient comparison method or the like. The compensating device 5 applies PID compensation by using the control parameter so as to optimize the speed response of the motor 1. |
