| 摘要 |
PURPOSE:To performs a positioning job of a controlled system at a high speed and with high accuracy by having the bang-bang control in consideration of the speed and acceleration as well as the position of the controlled system and also carrying out the position feedback control. CONSTITUTION:When the positioning control is carried out at a certain time point, the bang-bang control is selected by a switch part 104 with output of the maximum acceleration command value. Thus a motor 10 is accelerated together with the shift of a controlled system. When the controlled system reaches a prescribed position (x), a bang-bang control part 100 delivers the negative maximum acceleration command value by a command given from a position comparator 22. Thus the motor 10 is decelerated together with the shift of the controlled system. When the speed of the controlled system is slowed down to a prescribed level together with a prescribed acceleration, the part 100 delivers the positive maximum acceleration command value by a command given from a comparator 102. As a result, the acceleration is indicated in a deceleration mode of the acceleration and the overall acceleration is reduced. Then the switch 104 is changed over when the acceleration reaches a prescribed level. Then the controlled system is positioned at a low acceleration degree. |
