| 摘要 |
<p>PROBLEM TO BE SOLVED: To suppress energy consumption and an unnecessary steering interposition by detecting the stopping state of an actuator and reducing at least an energy supply to the actuator by reacting on the stopping state. SOLUTION: An actual valueδM,ist of a motor angle and the corresponding target valueδM,soll are supplied to a PD position controller 42a and the valuesδM,ist andδM,soll are weighed by amplification factors KDs 52 and KDi 53 which are different from each other, respectively, in differential units 50, 54. In the case, KDs=0 is determined in particular, subsequently, a difference between differential quotients is determined by a point 55, a control deviation (δM,soll-δM,ist) weighed by an amplifying stage 51 of an amplification factor Kp is superimposed by a point 55a and the superimposed one is determined for target motor current Isoll. When a switch 56 is made an open state by a switch signal S, operation amount (u) of motor current is reduced to zero and motors 13, 23 are turned off. Therefore, an unnecessary energy supply to an undriven motor is reduced.</p> |
