| 摘要 |
Time optimal control is used and there are provided: a calculation step of calculating a switching time t1 at which an acceleration output is switched to a deceleration output and an end time t2 of the deceleration output expressed by time elapsed from a calculation time t0 at which calculation for control is performed using a maximum acceleration ±p and a maximum deceleration ±m, which are measured in advance, at the time of the maximum output of control force of an actuator; and a control output step of setting the control force of the actuator to a maximum acceleration output from the calculation time t0 to the switching time t1, setting the control force of the actuator to a maximum deceleration output from the switching time t1 to the end time t2, and ending the output of the control force at the end time t2, and there is also provided an update step of calculating and updating the switching time t1 and the end time t2 by repeating the calculation step at each preset time. Due to this, there are provided an actuator control method and an actuator control device that incorporate the element of feedback control in time optimal control. |
