| 摘要 |
PROBLEM TO BE SOLVED: To compensate the hysteresis characteristic of generating force of an actuator and generating force of a reduction gear by using a mathematical model of a hysteresis characteristic of force (torque) transmission, command force (torque) input of an actuator and history from the past to present time of external force (torque) estimate value. SOLUTION: A load torque estimate value to presampling time is madeτtmp, a command torque to a motor is madτup, and this increase portion quantity is madeτud (201). In case of maximum statical friction being madeτs.max, at the time ofτtmp-τs.max<τup<τtmp+τs.max (202), at the time ofτup>=τtmp+τs.max andτud>0 (203), and at the time ofτup<=τtmp-τs.max andτud<0 (204), load torque at the present time is respectively computed to beτtmp,τup-τs.max,τup+τs.max. In case of no condition being satisfied, it is so judged that the motor is rotated. With above-mentioned algorithm, a hysteresis torque transmission characteristic at the stationary time of a driving shaft is compensated.
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