By pre-reading study the digital servo

摘要

PROBLEM TO BE SOLVED: To attain high speed positioning by the same characteristic adaptively to dispersion in the characteristics to be controlled even when the band of a servo device is narrow. ;SOLUTION: The object 301 to be controlled is stabilized by a servo compensating means 201. A correction control input storage outputting means 205 outputs a correction control input u (kT) updated and stored at the time of preceding trial to the object 301. A look-ahead learning means 206 extracts a correction control input u ((k-2)T) 106 outputted two steps ago, adds the extracted input 106 to a result 108 obtained by multiplying a position error e (kT) 107 measured in the current time by a fixed learning gain λ 110 and stores the added value in the means 205 as a correction control input u ((k-2)T) 109 to be outputted at the timing of (k-2)T in the succeeding trial. The positioning trial is repeated to acquire the correction control input u (kT) 105 for converging the position error e (kT) 107 to zero.;COPYRIGHT: (C)1997,JPO