| 摘要 |
PURPOSE:To always contain a cumulative error in an allowable range, and to execute a stable carrying by correcting a set operation quantity by cumulative error of that time point, in case the number of times of operation has reached the set number of times, and in case the cumulative error has reached an allowable error, respectively. CONSTITUTION:A driving device inputs a set operation quantity Lon from a set operation quantity output means and drives a body to be driven. An actual result operation quantity operating means calculates and outputs an actual result operation quantity Lin of the body to be driven. An error operating means derives the operation quantity Lon-Lin and outputs it as an error. A cumulative error operation means inputs this error and output its cumulative value as a cumulative error alphan. A comparing and deciding means A decided whether the error alphan has reached a prearranged allowable error or not, and a comparing and deciding means B decides whether the number of times of operation of the body to be driven has reached the prearranged set number of times or not. A set operation quantity correcting means corrects the operation quantity Lon by a cumulative error of that time point with regard to each of the case when it is decided that both means A, B have reached the prearranged value. |
