APPARATUS AND METHOD FOR CONTROLLING ELECTRICALLY-DRIVEN ELONGATION/CONTRACTION DEVICE

摘要

PROBLEM TO BE SOLVED: To protect an elongation/contraction mechanism of an electrically-driven elongation/contraction device from an excessive load that acts on the elongation/contraction mechanism and to accurately set the value to which the load acting on the elongation/contraction mechanism or a force in one-to-one correspondence to the load rises to release the load.SOLUTION: A control apparatus 30 for the electrically-driven elongation/contraction device comprising a motor 11 and the elongation/contraction mechanism that is elongated/contracted by torque generated by the motor 11 comprises a supply power control part 15 and a torque sensor 19. During zero speed control, the supply power control part 15 maintains an elongation/contraction speed of the elongation/contraction mechanism at zero. If the torque of the motor 11 detected by the torque sensor 19 exceeds a torque upper limit value while the zero speed control is executed, the supply power control part 15 performs load release control. During the load release control, the supply power control part 15 causes the elongation/contraction mechanism to be elongated or contracted by the load that acts on the elongation/contraction mechanism.SELECTED DRAWING: Figure 3