| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a linear actuator allowing minimization of a drive current value required for attitude control in a state that a yawing angle is suppressed within a prescribed value. <P>SOLUTION: This linear actuator wherein a pair of linear motors each having a position detection means are disposed in parallel apart from each other at a prescribed distance and wherein sliders of the linear motors are connected by an arm member has: a middle point position detection means calculating a middle point signal between the sliders based on the sum of outputs of the pair of the position detection means; an attitude detection means calculating an attitude signal between the sliders based on a difference between the outputs of the pair of the position detection means; a middle point position control part operating the drive current value driving the sliders by a driving force instruction based on a difference between the middle point position signal and a position instruction signal; an attitude target value generation part generating an optimum attitude target value signal in a controlled middle point position; and an attitude control part correcting the driving force instruction by use of a correction signal calculated by an LQR (Linear Quadratic Regulator) (an integration type) 500 inputted with a velocity difference and a difference between the attitude signal and the attitude target value signal. <P>COPYRIGHT: (C)2009,JPO&INPIT |
