| 摘要 |
PURPOSE:To execute positioning control with high accuracy by performing a speed/acceleration feedforward to a deviation of a target position and the present position, superposing a calculated value of a gravity bias, etc., and generating a command torque. CONSTITUTION:A signal for showing a target position qr of a turn arm is applied to an addition point 10, its deviation to a signal for showing the present position (q) is taken, amplified by a gain Ke and applied to an addition point 11. To the addition point 11, a value which is multiplied a one-story differential value of the target position qr by the gain is added, and these two inputs are added and outputted to an addition point 12. To the addition point 12, a signal for showing a two-story differential value of the target position is added, a value which is multiplied an actual speed of the turn arm by the gain is added, and the addition point adds and subtracts three inputs. An output of the addition point 12 is amplified to the gain corresponding to a motor shaft reduced inertia moment Ie of the turn arm and a working work, and added to an addition point 13. To the addition point 13, a signal for showing the force such as an air resistance and a viscous force, etc., and a gravity bias is added, and by adding these inputs, the turn arm is controlled. |
