Learning Design of Positioning Servo-Mechanism

Methods for improving transient characteristics of positioning servomechanism have been often studied both from theoretical and practical aspects.In this paper, the authors propose a new method to improve the characteristics by focusing on the response rather than the transfer function of the system. Namely, even in the case of the servomechanism with unknown transfer function, by way of introducing the concept of learning, by constantly looking at the response in adjusting process the system, it was proved possible to realize an ideal transient response with outstanding performance in terms of rapid response.Specifically, the finite time response is to be ultimately obtained by correcting the height of bang-bang element in the velocity feedback loop by the overshoot value or the undershoot value of the step response.The author, by applying this method to the positioning control system using a stepping motor, was able to obtain the ideal respopse with no overshoot, notwithstanding the complicated mathematical model of a stepping motor itself.