| 摘要 |
PURPOSE:To strengthen suppressing force against disturbance by adding a dynamic model for a control system and a compensator to a normal control system and setting up the gain of the compensator to a high value. CONSTITUTION:The dynamic model 3 inputting an objective valus signal r(t) and calculating a model output signal yM(t) for the control system is connected to a control operator 2 inputting said objective value signal r(t) and an output signal y(t) and calculating a control operation output ur(t). A compensating signal uepsilon(t) is calculated on the basis of the output error epsilon(t) between the model output signal yM(t) and said output signal y(t) by an output error compensator 5 and the signal uepsilon(t) is subtracted from said control operation output ur(t) to calculate an operation signal u(t) of a controlled system 1. Even if the error epsilon(t) is generated by disturbance or the like, the error epsilon(t) is immediately fed back to the operation signal u(t) by the compensator 5 and the suppressing force can be improved. |
