| 摘要 |
PURPOSE:To execute exactly a position control against a target position by selecting suitably and using a bang-bang controller and a gain controller, and controlling a control object by the maximum capacity which a control device has. CONSTITUTION:When position information 2 is inputted to an operator 14 of a position error (e) and a speed error e', a mode discriminator 13 confirms an input signal, and with regard to a bang-bang controller 8 and a gain controller 3, the controller 8 is selected first. The controller 8 drives a control object 5 by the maximum acceleration through a driving part 4 by a command from the maximum acceleration command deivce 10. When the control object 5 reaches a prescribed point, said command is switched to a command from the maximum deceleration command device 12 by a switching signal from an optimum switching deciding device 11, the control object 5 is shifted to the maximum deceleration driving and driven, and when it goes into a prescribed area, it is driven by a command from the controller 3. During these consecutive controls, a speed signal 18 and a position signal 17 are applied to the operator 14 from the control object 5, and the operator 14 executes an operation against input information, and controls so that (e) and e' become zero at the final target point. |
