| 摘要 |
Provided are an actuator control method and control device, in which: a switch time (t1) in which a switch is made from acceleration output to deceleration output and an end time (t2) of the deceleration output are computed using a minimum time control and a maximum acceleration (alphap) and maximum deceleration (alpham) at maximum output of control force; the output of the control force is ended at the end time (t2) with the actuator control force from a calculated time (t0) to the switch time (t1) treated as the maximum acceleration output and the actuator control force from the switch time (t1) to the end time (t2) treated as the maximum deceleration; the switch time (t1) and the end time (t2) are repeatedly computed and updated for each of a preset time; and in addition to a reduction of residual energy which is the sum of remaining work and operation energy which the control assembly has, the control output is reduced. Thus, a feedback control element is introduced into the minimum time control, and control output after the control ends is resolved. |
