| 摘要 |
PROBLEM TO BE SOLVED: To apply the assist force at a controlled variable close to the operating force by human being by forming a device of a control means, which is provided with an acceleration computing means, a control variable setting means, a deviation computing means and a drive control means, and a speed sensor, a motor driving means, a motor, and a motor current detecting means. SOLUTION: A speed sensor 2 supplies the speed signal VD. An acceleration computing means 7 differentiates the speed signal VD so as to compute the acceleration. A controlled variable setting means 8 sets the controlled variable IMS of a motor 5 on the basis of the acceleration signal AD from the computing means 7. Continuously, a deviation computing means 9 computes the deviation signal ▵I between the controlled variable IMS and the motor current signal IMO supplied from a motor current detecting means 6, and provides the deviation signal ▵I to a drive control means 10. After performing the proportion control, integration and differentiation control to the deviation signal ▵I, control signal VO is supplied to the motor driving means 4. The motor 5 is controlled for drive. With this structure, reliability can be improved with the simple structure. |
