Momentum control apparatus

摘要

The momentum control apparatus includes: an optimal feedback gain obtaining part for obtaining a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback control the momentum of the controlled object; and a feedback gain setting part for extracting a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part as a feedback gain of a control system.

主权项

1. A momentum control apparatus for feedback-controlling the momentum of a controlled object by using a plurality of actuators, comprising:
a target momentum obtaining part that obtains a target momentum of the controlled object; an optimal feedback gain obtaining part that obtains a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback-control the momentum of the controlled object, with respect to each of actuators; a feedback gain setting part that extracts a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part, and sets the minimum feedback gain as a feedback gain; a control amount calculation part that calculates a feedback control amount on the basis of the minimum feedback gain extracted and set as the feedback gain by the feedback gain setting part and a deviation between the target momentum and the current momentum of the controlled object; and an actuator control part that controls the actuation of the plurality of actuators on the basis of the feedback control amount.