POSITION CONTROL METHOD WITH TWO DEGREES OF FREEDOM, POSITION CONTROLLER WITH TWO DEGREES OF FREEDOM, AND MEDIUM STORAGE DEVICE

摘要

PROBLEM TO BE SOLVED: To enhance calculation precision, using a processor of a fixed point, in a position controller by a current observer control for conducting control of two degrees of freedom.;SOLUTION: A state variable of an observer holds a relative distance from a reference point, using a target position orbit and a positional error that are an input in a control system (26) with two degrees of freedom using the observer, as a relative value using a reference orbit as a reference. A variation range of a value gets narrow compared with that when holding an absolute value, the effective number of figures in a decimal point is increased even in a fixed point system, and the calculation precision is improved thereby. A control current gets smooth thereby in an acceleration section, resonance and a noise can be prevented therein from being generated, residual vibration can be prevented from being generated in a constant velocity section and a deceleration section, and a seek time can be shortened.;COPYRIGHT: (C)2008,JPO&INPIT