APPARATUS AND METHOD FOR CONTROL OF ACTUATOR

摘要

PURPOSE: An actuator control device and a control method thereof are provided to prevent sliding or unwanted movements by maintaining the current position regardless of a gradient angle of a load or the amount of the load when restarting. CONSTITUTION: An actuator system(100) comprises a control part(110) and a load part(120). The control part comprises an observing part(104), a control part(105), a compensation part(106), and an estimating part(107). The observing part estimates status of load based on state equation including modeled load parameters. The control unit outputs a signal for controlling the load. The compensation part compensates for the signal outputted from the control unit. The estimating part determines gains of the compensation part based on a presumed variation of the load parameters. A load part(120) comprises a load(101), a load driver(102), and a sensor(103). [Reference numerals] (101) Load; (102) Load driver; (103) Sensor; (104) Observing part; (105) Control part; (106) Compensation part; (107) Estimating part; (AA) Target amount; (BB) Measurement amount