Actuator control method and actuator control device

摘要

In an actuator control method and an actuator control device, time optimal control is used, and a switching time at which an acceleration output is switched to a deceleration output, and an end time of the deceleration output are calculated using a maximum acceleration and a maximum deceleration at the time of a maximum output of a control force. A control force of an actuator is set as a maximum acceleration output from a calculation time to the switching time, the control force of the actuator is set as a maximum deceleration output from the switching time to the end time, output of the control force is ended at the end time, and the switching time and the end time are repeatedly calculated, and updated for each preset time. The control output is reduced along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system. From this, an element of feedback control is incorporated in the time optimal control, and the control output is converged after the end of the control.

主权项

1. An actuator control method, using time optimal control comprising:
a calculation step of calculating a switching time (t1) at which an acceleration output is switched to a deceleration output, and an end time (t2) of the deceleration output expressed by an elapsed time from a calculation time (t0) at which calculation for control is performed using a maximum acceleration (αp) and a maximum deceleration (αm) at the time of a maximum output of a control force of an actuator, which are previously measured; a control output step of setting the control force of the actuator as a maximum acceleration output from the calculation time (t0) to the switching time (t1), setting the control force of the actuator as a maximum deceleration output from the switching time (t1) to the end time (t2), and ending the output of the control force at the end time (t2); an update step of repeating the calculation step for each preset time, and calculating and updating the switching time (t1) and the end time (t2); and a control output reduction step of reducing the control output along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system.