| 摘要 |
PURPOSE:To make highly accurate positioning simply by finding a linear weighted average value of the result of control from measured value of positioning, and outputting the difference between the target command and the weighted average value as the next correction. CONSTITUTION:The learning correction of the result of positioning fn is given by Fn=(1-alpha).Fn-1+alphafn by a microcomputer 4, where Fn is linear weighted average value of the result of positioning and alpha is smoothing coefficient. Here, target command of control basing on the result of learning SS1 and correction DS1 for target of positioning SS are expressed by expressions I, II. Here, k is correction coefficient. Fn can be found by finding simple average stop position x, obtaining provisional correction DS1 from DS1=SS-x and supposing and giving alpha. Therefrom, k is obtained by the expression II. The difference between the target command SS1 and weighted average value Fn is outputted from a positioning device 2 as next correction. |
