METHOD FOR SUPPRESSING VARIATION IN SPEED OF ACTUATOR

摘要

The drive controller (1) of an actuator (2) previously measures positioning error of an actuator output shaft (7) caused by the angle transmission error of a wave motion reduction gear (5) and stores it as correction data (C). In a feedback control loop, a speed feedback value ?f is operated using the detected position feedback value ?f, after corrected by the correction data (C), of the actuator output shaft (7), and a current command Ir is operated using it, thus performing drive control on a motor (3). Since a speed component caused by the angle transmission error of the wave motion reduction gear (5) has been added to the rotational speed of a motor with regard to the speed feedback value ?f, a variation in rotational speed of the actuator output shaft (7) caused by the angle transmission error of a wave motion reduction gear (5) can be suppressed effectively.