| 摘要 |
<P>PROBLEM TO BE SOLVED: To achieve both suppression to vibration and synchronous control with high robustness to a disturbance, as well as highly accurate estimation to a disturbance at load without being affected by variation in constant of spring, even when a disturbance observer at the load is applied to a positioning apparatus connected via a mechanism drastically changing in the constant of spring between a motor shaft and the load depending on the position of the load such as a ball screw, a timing belt, or the like. <P>SOLUTION: The positioning apparatus connects the motor shaft and the load with an elastic object having a constant of spring Kf drastically changing depending on the position of the load. The torsional angle of the shaft at the load is measured in the positioning apparatus, and the disturbance at the load is estimated by the disturbance observer 40 at the load constituted on the basis of the torsional angle of the shaft and the acceleration of the load. When the estimated disturbance at the load is fed back through a reverse system 50 from the disturbance at the load to a position commanding value, a nominal value Kf<SB>n</SB>of the constant of spring in the disturbance observer at the load is varied depending on the position of the load. <P>COPYRIGHT: (C)2011,JPO&INPIT |
