| 摘要 |
PROBLEM TO BE SOLVED: To simplify the control algorithm by equalizing the acceleration time and the deceleration time at the time of driving an oscillatory actuator thereby determining acceleration control and deceleration control using same parameters. SOLUTION: In the way of a circuit where a control signal for driving an oscillatory actuator 200 functions, means 6 for converting the transfer function depending on the control state of the oscillatory actuator 200 is provided. An identical transfer function is employed at the time of acceleration and deceleration of the actuator by converting the transfer function depending on the control state thereof. Consequently, the transfer function converting means 6 can deal with a same transfer function when the kinetic energy of the oscillatory actuator 200 increases and decreases. |
