| 摘要 |
PURPOSE:To improve the locus control accuracy for the tip of an arm, by providing a gain switching circuit which has the characteristics that is expressed as a sine function of the output of a rocking angle detector and then setting the deviation of steady speed logically at 0. CONSTITUTION:A rocking angle detector 22 is attached to the base edge of a linear actuator 9 to detect the rocking angle (r) to a supporting stage 3 of the actuator 9. The characteristic function of a gain switching circuit 21 is not defined as the function of the output turning angle theta of an arm 4 and set equal to the characteristics of sine function f(theta)=f(gamma)=asin gamma/K1.K=R/K1.K of the output angle gamma of the detector 22. As a result, the steady speed deviation e(infinity ) is set perfectly at logical 0. This ensures the locus control with high accuracy. |
