| 摘要 |
PROBLEM TO BE SOLVED: To provide a position control device and a position control method capable of reducing the possibility that the result of an estimated state quantity becomes an estimation error, even when the posture of the object to be controlled changes.SOLUTION: A target generation unit 601 outputs the target value signal of an object to be controlled, and a position encode processing unit 602 outputs the position detection signal of the object to be controlled. A PID compensator 604 calculates, on the basis of a differential signal between the target value signal and the position detection signal, a control variable for having the object to be controlled track the target position. A disturbance estimation observer 605 outputs the result of disturbance estimation to an addition unit 606. The addition unit 606 adds the control variable outputted by the PID compensator 604 and the output of the disturbance estimation observer 605 and calculates a total control variable. A storage unit 607 stores the control variable under position control to a fixed position as posture difference correction amount, and, during position control to a movement position, the disturbance estimation observer 605 estimates disturbance by using a control variable derived by subtracting the value stored in the storage unit 607 from the total control variable. |
