| 摘要 |
PURPOSE:To compensate the mutual interference, by measuring the frequency response of mutual interference in advance, storing it in a memory, and using the frequency response data of the mutual interference not approximately but actually, unlike analog controllers. CONSTITUTION:To obtain a frequency response function matrix [H(f)], an (x) direction acceleration signal only is outputted from a D/A converter 4-1, the movement of 6 degrees of freedom is inputted to a computer main body 4-4 via a vector operating device 4-2 and an A/D converter 4-3 and recorded on a magnetic disc 4-6. In this case, the accelerating signal is measured for the frequency response function at a required frequency region with the frequency sweeping. Thus, the 1st row of the matrix in Equation 1 is measured, a (y) direction acceleration, a (j) direction acceleration, a theta direction acceleration, a phi direction acceleration and the like are measured respectively, and all the elements of the matrix [H(f)] are measured. Since the [H(f)] is obtained, the objective movement vector YT(f) of the oscillating stand is inputted from an operation panel 4-5, Equation 2 is operated with the computer 4-4 and an acceleration vector XR(f) is obtained. |
