| 摘要 |
PROBLEM TO BE SOLVED: To obtain a control device for actuators capable of highly responsively controlling the position and speed thereof without causing a great jerk even though a position command or a speed command is rapidly changed.SOLUTION: The control device includes a position error amplifying means 4 that amplifies a position error Δθ so that the position error Δθ between a position detection value θ and a position command θ* for an actuator 1 is zeroed and outputs a speed command ω* and an actuator speed controlling means 5 that controls the speed of the actuator 1 so that it agrees with the speed command ω*. The position error amplifying means 4 outputs the speed command ω* in proportion to the position error Δθ within a first range in which the absolute value of position error Δθ is equal to or lower than a predetermined position error boundary value. In a second range in which the absolute value of position error Δθ is equal to or higher than the predetermined position error boundary value, it outputs the speed command ω* continuing to the output in the first range and being in proportion to the (1/2) power of the position error Δθ. |
