Position controller

Abstract

Abstract PURPOSE:To reduce deviation between a position command signal, and a position signal, and to accelerate responsiveness, by adding a differentiator on the input side of an integrator in a position control system, and further adding a factor term. CONSTITUTION:In a closed loop transfer system having the spring factor K, and the differentiation term S of a system, since a transfer function Gs equals to K/(K+S), and a deviation E(s) equals to the difference between the position command signal C(s) and the position signal y(s), the deviation E can be set as C-y=0 by adding the differential value of an input signal on the front of the integrator. Then, control loops alphaS and beta are added as usual. At this time, a deviation quantity E(s) can be obtained by equation through the use of the inertia Jm of a motor, and spring factors K1 and K2. At such a time, furthermore, by selecting (alpha) as 1, and (beta) as K2, the E(s) can be simplified as E(s)={JmS<3>/(KK1+K1S+JmS<3>)XC(s). By such constitution, the deviation quantity between the position command signal, and the position signal can be reduced at fast responsiveness.

Inventors

• 👤 Keiji Sakamoto
• 👤 坂本　啓二
• 👤 Osamu Yoshida
• 👤 修 吉田

Bibliographic Details