MULTI-CONTROL REDUNDANT MOTOR, MULTI-CONTROL ACTUATOR, AND REDUNDANCY CONTROL METHOD THEREFOR

摘要

PROBLEM TO BE SOLVED: To establish a multi-control technology for an actuator capable of exactly outputting a proper control target signal without exerting influence of one faulty control upon the other control. SOLUTION: A multi-controlled redundant motor comprises: a first servomotor 3-1 that inputs first torque to a common output shaft 9; a second servomotor 3-2 that inputs second torque to the common output shaft 9 adding to the first torque; a controller 12-1 generating two torque commands 14-1-1 and 14-1-2 to the first servomotor 3-1 responding to the first torque, and a controller 12-2 generating two torque commands 14-2-1 and 14-2-2 to the second servomotor responding to the second torque. The duplicated and redundant servomotor is independently torque-controlled, and the controllers are redundancy-controlled, respectively. Redundancy thus quadruplicated substantially reduces failure probability to zero and prolongs the lifetime of the redundant motor concurrently. COPYRIGHT: (C)2003,JPO