| 摘要 |
PURPOSE:To reduce an error and to attain rapid coincidence by inputting an objective value to the 1st and 2nd servo systems respectively and inputting the output difference of both the systems to the 2nd servo system through a compensating system consisting of a proportional element, etc. CONSTITUTION:An objective value theta* of a synchronized driving system is inputted to a master servo system 11 to be the 1st servo system and a slave servo system 12 to be the 2nd servo system. The deviation thetad between the outputs thetaM1, thetaM2 of both servo systems 11, 12 is inputted to the compensating system 13 and its output Oc is inputted to the servo system 12. The compensating system 13 consists of proportional, integrating and differential elements and parameters for setting up the size of respective operations are automatically set up by an automatic setter 30 such as a computer together with ''0''. Consequently, the slave servo system 12 is serially compensated by regarding the output thetaM1 as its objective value and feedforward control based upon the objective value theta* is executed. Both the servo systems themselves also constitute a feedback system. |
