| 摘要 |
<P>PROBLEM TO BE SOLVED: To cooperatively control actuators while control tracking between respective axes without any delay with respect to an instruction value based on a robust acceleration control system when an actuator is saturated. <P>SOLUTION: This actuator controller is provided with an acceleration control system 1 applying robust acceleration control to actuators 2, a tracking control system 20 controlling tracking of the actuators 2, a torque current limiter 95 regulating an acceleration instruction current I<SB>FFi</SB>of a feedfoward component for restricting a current reference value I<SP>ref</SP>to the actuator 2 to be a previously set maximum current value I<SB>MAX</SB>or less, and a delay regulation means 86 correcting an acceleration/deceleration torque current I<SB>FBi</SB>of a feedback component and the acceleration instruction current I<SB>FFi</SB>of the feedforward component according to a position instruction regulation rate γ(n+1)<SB>i</SB>for cooperatively controlling the actuators 2 between the respective axes. <P>COPYRIGHT: (C)2008,JPO&INPIT |
