| 摘要 |
PROBLEM TO BE SOLVED: To provide a control unit for controlling vibrations caused by a flexible mechanism. SOLUTION: The control unit 1 for controlling an actuator M that operates a load L through the flexible mechanism S is provided with an actuator displacement amount detecting means 10, a load displacement amount detecting means 11, a gravity correcting means 16 for calculating a gravity compensation value on the basis of target displacement amount, a first gain means 17 for multiplying the gravity compensation value by a first gainα(>2), a relative displacement amount calculating means 13 for calculating relative displacement amount between detected actuator displacement amount and detected load displacement amount, a phase delaying means 14 for delaying the phase of the relative displacement amount, a second gain means 15 for multiplying the relative displacement amount whose phase is delayed by a second gain 1-α, and an adding means 18 for adding a multiplication value by the first gain means 17 and a multiplication value by the second gain means 15 to the target displacement amount to control the actuator M on the basis of an additional value by the adding means 18. COPYRIGHT: (C)2006,JPO&NCIPI
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