Control device for drive device
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United States of America Patent
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Jun 14, 2016
Grant Date -
May 21, 2015
app pub date -
Nov 21, 2014
filing date -
May 22, 2012
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Abstract
Multipliers 21a and 21b output values, which are obtained by multiplying a total drive command value Es by first and second gains G1 and G2, respectively, as first and second drive command values E1 and E2. Controllers 23a and 23b control first and second actuators (motors) 5 and 7, respectively, on the basis of the first and second drive command values. The detection values of the drive amounts of the actuators are denoted by Ef1 and Ef2, respectively, and the detection value of the drive amount of a driven body is denoted by Ef. A gain calculator 27 calculates the gains G1 and G2 on the basis of Ef1, Ef and Ef2. An upper limit value of Ef, which denotes the drive amount of the driven body, is denoted by Lmax. When Ef1, Ef2 or Ef approaches zero, the first gain G1 is brought close to (Ef1−Lmax/2)/(Ef−Lmax).
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