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

摘要

PROBLEM TO BE SOLVED: To provide a method for designing a delay compensator filter, a feedback control method comprising the filter, and a motor controller using the control method with which the step disturbance applied to a control object input end can be made to have a steady deviation of zero even when the control object has a pole at its point of origin, and with which the physical meaning of parameters can be understood and being easy to design, in a feedback control system comprising a delay compensator and a feedback controller.SOLUTION: A method for designing a filter in a feedback control system comprises: a delay compensator 2 comprised of a control object model 34 and a filter 1; and a feedback controller 36. The filter 1 is a function composed in the form of addition, subtraction, multiplication and division using the feedback controller 36 for the control object 32, the control object model 34, a closed loop system transfer function comprising the feedback controller 36 for the control object and the control object model, and a closed loop system loop transfer function.SELECTED DRAWING: Figure 1