| 摘要 |
Drive control units (DCU1 - DCUn) are provided each for one of plural drive shafts (S1 - Sn) for controlling driving of the drive shaft in response to an individually imparted set value. A state parameter generation section (SPG1 - SPGn) generates, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts proudced by the drive control units. As the object of harmonization control, a desired factor may be selected depending upon necessity for the harmonization control. A position loop gain or a velocity loop gain, for example, may be selected as the object of harmonization control. A reference parameter generation section (RPG1 - RPGn) generates, responsive to the generated parameter representing the drive control state of each drive shaft, a reference parameter to be used as a reference of the harmonization control. The drive control state of each drive shaft in each of the drive control unit is corrected in response to the generated reference parameter. In the drive control unit, driving of each shaft is controlled individually in response to a set value which is individually imparted but, by correcting the drive control state in response to the reference parameter, the drive state of each shaft is harmoniously controlled in response to the reference parameter whereby a control for harmonizing the movements of an extremely large number of drive shafts can be realized. <IMAGE> |
