POSITION CONTROL DEVICE AND METHOD

申请公布号：JP2006072941(A)

申请号：JP20040259084

申请日期：2004.09.06

申请公布日期：2006.03.16

申请人：

NAGAOKA UNIV OF TECHNOLOGY;GUNMA UNIV;KUMAMOTO TECHNOLOGY:KK

发明人：OISHI KIYOSHI;HASHIMOTO SEIJI;KOSAKA KOJI

分类号：G05D3/12

主分类号：G05D3/12

摘要：PROBLEM TO BE SOLVED: To simplify a composition without using an acceleration control system, to provide an ideal transmission gain with a transmission characteristic that is close to one, and to compose a position control system using only positional information without requiring a speed sensor or a positional approximate differential calculating means. SOLUTION: In the control system controlling a controlled object 30 by a control element 31 to control its position, an estimate of speed is output on the basis of output positions by a state observer 35, the estimate is compared with a desired value of speed by a comparator 36, and it is fed to an adder 38 through a proportional element 37. The desired value of speed is multiplied by a reverse dynamic characteristic P<SP>-1</SP>(s) by a multiplier 39, and the calculated value is added to a control input by the adder 38. COPYRIGHT: (C)2006,JPO&NCIPI

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