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POSITION CONTROL METHOD WITH TWO DEGREES OF FREEDOM, POSITION CONTROLLER WITH TWO DEGREES OF FREEDOM, AND MEDIUM STORAGE DEVICE
POSITION CONTROL METHOD WITH TWO DEGREES OF FREEDOM, POSITION CONTROLLER WITH TWO DEGREES OF FREEDOM, AND MEDIUM STORAGE DEVICE
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机译:具有两个自由度的位置控制方法,具有两个自由度的位置控制器和中型存储设备
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摘要
PROBLEM TO BE SOLVED: To enhance calculation precision, using a processor of a fixed point, in a position controller by a current observer control for conducting control of two degrees of freedom.;SOLUTION: A state variable of an observer holds a relative distance from a reference point, using a target position orbit and a positional error that are an input in a control system (26) with two degrees of freedom using the observer, as a relative value using a reference orbit as a reference. A variation range of a value gets narrow compared with that when holding an absolute value, the effective number of figures in a decimal point is increased even in a fixed point system, and the calculation precision is improved thereby. A control current gets smooth thereby in an acceleration section, resonance and a noise can be prevented therein from being generated, residual vibration can be prevented from being generated in a constant velocity section and a deceleration section, and a seek time can be shortened.;COPYRIGHT: (C)2008,JPO&INPIT
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