METHOD FOR DESIGNING FILTER OF DELAY COMPENSATOR, FEEDBACK CONTROL METHOD USING SAME, AND MOTOR CONTROL DEVICE

摘要

The purpose of the present invention is to provide: a method for designing a filter of a delay compensator in which, even when an object to be controlled has a pole at the origin in a feedback control system including a delay compensator and a feedback controller, the steady-state error of a step disturbance applied to an input terminal of the object to be controlled can be adjusted to zero, and designing is easy because the physical meanings of parameters are known; a feedback control method using the filter; and a motor control device using the control method. In order to achieve the purpose, this method is for designing a filter in a feedback control system including a delay compensator formed of a model of an object to be controlled, said filter, and a feedback controller, wherein the filter is a function in the form of a sum, a difference, a product, or a quotient using: the feedback controller for the object to be controlled; a model of the object to be controlled; a transfer function of a closed loop system which is formed of the feedback controller for the object to be controlled and the model of the object to be controlled; and an open-loop transfer function of the closed loop system.