POSITIONING CONTROL DEVICE FOR TOWED MECHANISM

摘要

PROBLEM TO BE SOLVED: To allow the curve position of an operation object to follow an operation command value in an instant. SOLUTION: In applying the driving force of a motor to a pulley 18 to tow a traction wire 14 or 16 to thereby curve the tip side of a curve part 12, when the operation command value 46 is outputted by the operation of a joy stick 10, the moving quantities of the traction wires 14, 16 are detected by sensors 28, 30, and the deviation between the operation command value 46 to find a wire tip position signal 38. The deviation is feedback-controlled while performing control of advancing the phase of the operation command value by a feedforward controller 52, and the output of the feedforward controller 52 is corrected by a feedforward controller 48 to create a motor position command value 54 to find the deviation between the motor position command value 54 and a motor position signal 60. A driving signal corresponding to the deviation is created by a motor controller 64, and the driving signal is applied to the motor 20 to control the wire tip position to follow the operation command value.