| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method and a structure for friction loss compensation coping with variation in temperature and speed or angular speed of a moving object. <P>SOLUTION: A friction compensation device 20 has a function holding part 22 holding a friction loss estimation function derived by a relational expression of speed or angular speed of a controlled object which is measured for each temperature, and a driving current value. The friction loss estimation function includes a first function using a temperature as a variable for a coefficient of a first term which depends on the speed or angular speed, and a second function using a temperature as a variable for a second term. The friction compensation device 20 includes: an input part receiving the speed or angular speed and the temperature at a certain time; a viscosity resistance compensation calculation part 24 computing the first term to derive a viscosity resistance compensation value based on the inputted speed or angular speed and the temperature; a coulomb friction compensation calculation part 25 computing the second term to derive a coulomb friction compensation value based on the inputted speed or angular speed and the temperature; and an adder 28 adding the viscosity resistance compensation value and the coulomb friction compensation value to derive a friction loss compensation current. <P>COPYRIGHT: (C)2012,JPO&INPIT |
