| 摘要 |
PURPOSE:To make the control operation of a closed loop controller stable and rapid to reduce the vibration of a material to be controlled, by generating a comparison position function, a comparison speed function, and a comparison acceleration function adapted to the performance of a servo mechanism on the basis of the difference between the current place and a target place. CONSTITUTION:A comparison position function Xr, a comparison speed function Vr, and a comparison acceleration function (ar) are generated from a comparison function generator 2 to which a target position set value Xo is inputted, and a signal to move a material to be controlled to the set value Xo is outputted from a closed loop controller 3 to which respective functions Xr, Vr, and ar are inputted. A position deviation signal S4 due to the difference between a position signal Sout and the function Xr is outputted by an adder 9 of the controller 3, and the difference between the function Vr and speed signal S3 from an integrator 7 is operated by an adder 10 to output a speed deviation signal S5, and these signals S4 and S5 are applied to a controller 5, and an acceleration deviation signal S1 is outputted from the controller 5. The function ar and the signal S1 are added by an adder 4 to output an acceleration signal S2, and this signal S2 is processed by integrators 7 and 8 to output a position signal out. |
