| 摘要 |
<p>PURPOSE:To prevent the generation of an overshoot by replacing an integrator with a control saturation integrator and at the same time adding a control saturator. CONSTITUTION:A control saturation integrator 11 has a function to saturate a target speed signal 12 with the prescribed value V; while an added control saturator 20 saturates a speed error signal 10 with the prescribed value A. When such an angle command signal is supplied that makes the signal 10 exceed the value A of the saturator 20, the input of the integrator 11 is limited. Thus the signal 12 is smoothly increased and never exceeds the value V. When the angle error is reduced and a speed signal 7 is smaller than the value V, the signal 10 becomes negative and the signal 20 is reduced. The change of the signal 20 is smooth. The target speed is set at 0 when the speed command is 0. Thus no overshoot is produced.</p> |
