| 摘要 |
PROBLEM TO BE SOLVED: To stably control, to a target value, the force to be applied from an actuator to a driving object element via a power transfer element having a spring property and a spring member, while suppressing the occurrence of oscillation or the like.SOLUTION: A basic command value of an actuator 2 determined so that the detection value of a driving force applied to a driving object element 5 is converged to a target value is corrected in response to an operation amount determined by operation amount determining means 16, and the actuator 2 is controlled in response to a control target value after the correction. The operation amount is determined so that the driving force according to the control target value is made close to the synthesis amount of the inertial force and the detection value of the driving force applied to the driving object element 5.SELECTED DRAWING: Figure 2 |
