Patent ID: 9400508
Filing Date: 2016-07-26
CPC Classification: G05B,G05D

Claim Text:
1. A periodicity disturbance suppression device characterized by having: a periodicity disturbance suppression means that has at an upstream part of a control flow a controller that inputs a control command value and a periodicity disturbance observer portion that extracts from an output of a controlled-object a frequency component corresponding to a periodicity disturbance, the extracted frequency component being multiplied by a reversed system expressed by a reciprocal of a system identification model, thereby to estimate the periodicity disturbance, the estimated periodicity disturbance being, as a compensation command value, subtracted from the above-mentioned control command value for suppressing periodicity disturbance; a phase correction amount calculation means that derives a phase correction amount of a system model by inputting and calculating a trajectory provided when the frequency component of the periodicity disturbance obtained by the periodicity disturbance suppression means is drawn on a complex vector plane; a gain correction amount calculation means that derives a gain correction amount of the system model by inputting and calculating the frequency component of the periodicity disturbance obtained by the periodicity disturbance suppression means; and a rotational vector calculation means that calculates a system identification model correction value by multiplying together the phase correction amount from the phase correction amount calculation means and the gain correction amount from the gain correction amount calculation means, and corrects the system identification model of the periodicity disturbance suppression means based on the system identification model correction value.