Cycle disturbance suppression equipment and cycle disturbance suppression method

摘要

PROBLEM TO BE SOLVED: To provide a periodic disturbance suppression device capable of correcting a system identification model error.;SOLUTION: The periodic disturbance suppression device includes: a periodic disturbance observer PDO which has a controller for generating a control command value r_n in a higher order, estimates periodic disturbance by multiplying an inverse system expressed by an inverse number of a system identification model, at an output yn of a control target plant P_n generated by the periodic disturbance, with a frequency component of the periodic disturbance as a suppression control target, and subtracting it from the r_n to suppress a periodic disturbance dn; phase calculation means (10, 11) for calculating a phase error θ^ref by the system identification model error on the basis of a vector track drawn on a complex vector plane by respective frequency components of the periodic disturbance during periodic disturbance suppression control; and gain calculation means (20, 21, 22) for calculating a gain error G^ref by the system identification model error. A rotation vector P^ref_n obtained by integrating the θ^ref and the G^ref is defined as a correction command value, and the system identification model is corrected.;COPYRIGHT: (C)2013,JPO&INPIT