| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an energy evaluation control method and an energy evaluation control device, capable of being applied for controlling a vertical direction when gravity acts on a control system. <P>SOLUTION: In an energy evaluation control method and an energy evaluation control device, when an actuator 11 is driven and braked to move a control object 12 to a target position, the sum of the kinetic energy of the control object 12 and position energy at a present position of the control object, is compared with the sum of braking work amount which can be made from the present position to the target position and position energy at the target position, about each calculation period set in advance. Driving and braking are switched when both sums become equal to each other. <P>COPYRIGHT: (C)2013,JPO&INPIT |
