| 摘要 |
PROBLEM TO BE SOLVED: To improve the control performance of torsion including error in transmission of the angle of a speed reducer, by detecting the rotational angle of a motor, and controlling the fluctuation of the motor, and besides, inferring the fluctuation of the output angle of the gear of the speed reducer by the rotational angle of the motor. SOLUTION: The motor current 1m controlled by a control means 1 is converted into torque Kt.1m with the torque absolute term 9 within a motor 2, and is converted into speed ωm with a motor shaft end inertia term 10 which can be expressed by the reciprocal of the sum of motor shaft inertia Jm and motor shaft viscosity resistance Dm. Then, it is converted into the rotational angle θ of a motor with an integration term 11. Furthermore, the rotational angle θm of the motor is decelerated to 1/Rg times in reduction ratio with a deceleration term 12. At this time, the fluctuation of the gear output angle proportionate the fluctuation of gear ratio of the speed reducer is outputted from a gear output angle fluctuation term 19, and is added to the output of the speed reduction term 12, and a gear output angle θ is outputted. therefore, a control means 1 can perform the compensation of the error in transmission of the angle of the speed reducer by inferring the quantity of its fluctuation from the quantity θof positional feedback. |
