Actuator control method and actuator control device

摘要

An actuator control method and an actuator control device that perform energy evaluation control that compares kinetic energy of a controlled object and work that can be done by braking and switches driving to braking at a point of time at which the kinetic energy of the controlled object and the work become equal, and also repeatedly makes a comparison between the kinetic energy of the controlled object and the work at each preset time, as a new control method that replaces PID control in mechanics for effectively utilizing vehicle energy to improve vehicle fuel consumption and control methods thereof, a control result is obtained by a simpler method.

主权项

1. An actuator control method of accelerating and decelerating a controlled object to reach a target position by controlling an output of a control force of an actuator, comprising:
comparing a kinetic energy of the controlled object with an amount of a work that can be done by braking, which work is defined as the amount of work done by braking the controlled object in motion in a deceleration state until the controlled object reaches the target position from a present position, by a comparison unit of an actuator control device, switching from driving to braking when the kinetic energy of the controlled object and the amount of the work that can be done by braking become equal, by a switching unit of the actuator control device; repeatedly comparing the kinetic energy of the controlled object with the amount of the work that can be done by braking at each preset time, by the actuator control device; taking a sum of the kinetic energy of the controlled object and an absolute value of the amount of the work that can be done by braking, and setting the sum to a control evaluation value for ending control, by the actuator control device; and reducing an upper limit value of a control output in proportion to the control evaluation value, by the actuator control device.