TRACK CONTROL DEVICE

PROBLEM TO BE SOLVED: To accurately change a position and a speed of a second support body as a control object among controlled bodies to target position and speed after a predetermined operation time.SOLUTION: A control function capable of arbitrarily changing a position and a speed of a second support body 1a that serves as part of the controlled body after a predetermined operation time is analytically derived using energy transfer between vibrators which is the feature of the Grover Algorithm by regarding the controlled body as part of a three-body vibration system which moves under conservation power designed so as to establish the algorithm. According to a control signal determined from the position and the speed of the second support body measured for each operation time, part of the controlled body is forcibly displaced, and the part of the controlled body is given an external force. Thereby, the control of the sample value of the track of the second support body is performed so as to allow the second support body to approach the target position and speed for each operation time. Because of difference in the mechanism and the control method of the controlled body, a plurality of control devices are provided.SELECTED DRAWING: Figure 7 【課題】被制御体のうちの制御対象である第二支持体の位置及び速度を、所定の操作時間後に、目標とする位置及び速度に精度良く変化させる。【解決手段】被制御体を、Groverアルゴリズムが成り立つように設計された保存力下での運動する三体振動系の一部とみなすことで、このアルゴリズムの特徴である振動子間のエネルギー移動を利用して、所定の操作時間後に該被制御体の一部である第二支持体１aの位置と速度を任意の変化させることのできる制御関数を解析的に導出する。該操作時間毎に測定した該第二支持体の位置と速度から決定した該制御信号に従って該被制御体の一部を強制変位させたり、該被制御体の一部に外力を与えたりすることにより、該操作時間毎に該第二支持体を目的の位置と速度に近づけるよう該第二支持体の軌道のサンプル値制御をおこなう．該被制御体の機構や制御方法の違いから、複数の制御装置を提供する．【選択図】図７