POSITION CONTROL DEVICE PROVIDED WITH ITERATIVE LEARNING CONTROL CIRCUIT

摘要

PPROBLEM TO BE SOLVED: To solve a problem that interactive learning control can obtain control input with less follow-up error by repeating trials, however, when a control target includes a parameter variation, learning performance is degraded to cause an increase in the number of times of the trials. PSOLUTION: A positioning device includes a detecting part for detecting a position of the control target, a subtracting part for subtracting an output of the detecting part from a target value, an iterative learning control circuit including a filter into which a deviation between the output of the detecting part and the target value is input, and feeding forward a control input to the control target, and a computing means for computing a variation in a parameter of the control target. A characteristic of the filter is changed in response to the variation in the parameter of the control target. PCOPYRIGHT: (C)2009,JPO&INPIT