| 摘要 |
PURPOSE:To quicken the converging operation by adjusting the gain in the inside of an adaptive device in response to the change in a control input value so as to keep the stability of an adaptive loop. CONSTITUTION:The 2nd order IP control system as a feedback speed control system is used, and a model 1 representing a desired response, the feedback control system of a control variable and the adaptive device are provided. Furthermore, a DELTAomega* operation block 4 obtaining the change in the input of a time interval of DELTAt, a limiter taking into consideration of the resolution of an element such as a microcomputer, a compensation operation block 6 of a function in which a gain inversely proportional to the square of the input value being the major part of the compensation element is taken by the adaptive group and a latch 7 are provided. They are assembled to said adaptive device as the compensation elements so as to compensate the adaptive loop gain if a remarkable fluctuation takes place to the input of the servo system. |
