| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve a problem that a periodic speed fluctuation according to the number of protrusions cannot be substantially reduced during the driving of an oscillation-type actuator due to the protrusions arranged on an elastic body in a conventional control system using a PID compensator. <P>SOLUTION: A control circuit of an oscillation-type actuator comprises: a repetitive compensator which executes a feedback control of speed or position, and the repetition period is set to a spatial frequency of a speed deviation based on a contact area distribution of the protrusion and a moving body. <P>COPYRIGHT: (C)2012,JPO&INPIT |
