CONTROL METHOD FOR POSITION SERVO-SYSTEM

摘要

PURPOSE:To improve the performance of the whole mechanical structure system by providing a second loop in parallel to a band-elimination filter and a phase controller, and providing in series a band pass filter in which the natural frequency of a body to be controlled is the center frequency and a second phase controller. CONSTITUTION:To a first loop consisting of a notch filter 6 and a first phase controller 9, a second loop consisting of a band pass filter 7 and a second phase controller 10 is coupled in parallel. As for its characteristic, a except a natural frequency omega1 of a body to be controlled 3, the gain of a second loop is small and the gain of a first loop is large, therefore, the characteristic of a first loop appears. In the vicinity of omega1, the gain of a first loop is brought to band elimination and becomes small, and the gain of a second loop is large, therefore, the characteristic of a second loop appears. As for a displacement detecting means 4, that which has satisfactory responsiveness is used, and the phase becomes -270 deg.. In such a way, since the supporting rigidity of a positioned part has a positive attenuation omega1 is attenuated quickly.