| 摘要 |
PURPOSE:To facilitate a servo-motor to be stably controlled, by fixing an identified parameter on this upper or lower limit value, when the adaptively identified parameter in speed controlling system exceeds the previously set upper or lower limit value. CONSTITUTION:By an adaptive identification mechanism c, the ideal model b of the whole objective plant and the output difference e(t) of a controlling system are set to be evaluated factors, and an interating gain K1 and a proportional gain K2 in the controlling system are controlled to minimize the evaluated factors. In this case, when an adaptively identified parameter exceeds a previously set upper or lower limit value, then the identified parameter is fixed on the upper or lower limit value. As a result, even when disturbance is generated, then speed controlling can be stably performed. |
