| 摘要 |
PROBLEM TO BE SOLVED: To provide an electromagnetic actuator apparatus and a related control method for suppressing feedback control from diverging at a proximate moment of switch-over in operating directions of an electromagnetic actuator for compensation of internal inertia without a delay. SOLUTION: The electromagnetic actuator apparatus includes an electric motor 8 for the electromagnetic actuator, an operating-acceleration detecting means 21 detecting operating-acceleration of the electromagnetic actuator, and an internal inertia calculating means 24 for calculating internal inertia of the electromagnetic actuator 4 based on operating-acceleration. A motor control means 27 controls the electric motor 8 to generate a resultant force constituted by subtracting internal inertia from an actuator-output command value. Further, the electromagnetic actuator apparatus includes a stroke-direction switchover detecting means 21 for detecting the proximate moment of switchover in a stroke direction of the electromagnetic actuator 4, and internal inertia rate-of-change suppressing means 21 for suppressing a calculated value on internal inertia, upon detecting the proximate moment of switchover in the stroke direction of the electromagnetic actuator 4, such that internal inertia has a rate of change less than a predetermined value. COPYRIGHT: (C)2010,JPO&INPIT
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