| 摘要 |
PURPOSE:To prevent control accuracy from drop due to an output error of a detector by forming a quantity of state estimating circuit for estimating the quantity of state for suppressing the vibration of a load and a feedback circuit for feeding back the quantity of state estimated by the estimating circuit. CONSTITUTION:A potentiometer 4 output a signal (y) indicating the rotational position of a rotary body 3 and inputs the signal (y) to the estimating circuit 5 and a subtractor 6. The subtractor 6 outputs a signal indicating the deviation between the signal (y) and an objective position command signal and the signal is multiplied by a gain constant K4 through a coefficient multiplier 7. A signal U outputted from a subtractor 10 is inputted to a servo amplifier 11 and the estimating circuit 5. The estimating circuit 5 estimates the rotational angle and angular speed of a motor 1 on the basis of the signals U, (y) and the angular speed of the rotary body 3 and outputs signals x1-x3. The signals x1-x3 are multiplied by proper gain constants K1-K3 through respective coefficient multipliers 12-14 and the multiplied signals are inputted to the subtractors 10-8. Consequently, a positional deviation outputted from the coefficient multiplier 7 is compensated on the basis of respective quantities of state and positioning is controlled without the vibration of the rotary body 3. |
