POSITIONING CONTROL SYSTEM FOR ACTUATOR PROVIDED WITH STRAIN WAVE GEARING

摘要

A positioning control system (10) for an actuator (1) provided with a strain wave gearing (5) is provided with: a semi-closed feedback controller FB(s) that controls a load shaft position theta1 on the basis of a feedback motor shaft position thetam; and a feedforward linearization compensator (11) configured by incorporating a nonlinear plant model for an object to be controlled into a feedback linearization compensator using an exact linearization technique. The feedforward linearization compensator (11) uses a forward-calculated state quantity estimated value x* to calculate a feedforward current instruction i* ref and a feedforward motor position instruction theta* m to be input into the feedback controller FB(s). A positioning error caused by a non-linear element (non-linear spring property, relative rotational synchronization component, and non-linear friction) of the strain wave gearing (5) is compensated for by the feedforward linearization compensator (11).