抄録
To make a minimum time position control of DC-motor with saturated limitation on driving force, one drive-change-position at which a driving force changes from positive maximum to negative maximum must be determined.
In our studies, an on-line algorithm for determining a drive-changing-position without any off-line calculation and an identification algorithm for identifying a system constant by learning driving, were developed. The minimum time position control of DC-motor by these algorithms has the following properties.
1) Any off-line calculation for determining a drive-changing-position is not necessary.
2) Any estimation for inertia load of a controlled target is not necessary.
3) Proposed algorithms can be easily programmed on an assembling language of a micro-computer.
4) System constants are identified by a few learning driving so that they are not necessary to measure beforehand.
Proposed algorithms were programmed on the assembleing language of z-80 CPU, and the minimum time position control of DC-motor was performed, from the results of which it was turned out that after the system constant were identified by one or two learning driving, the drive-changing-position was determined almost precisely with on-line calculation.
