| 主权项 |
1. A control device of a power transmission device equipped with a primary element which displaces by a driving power of an actuator, and a secondary element coupled to the primary element via an elastic deformation member capable of deforming elastically, and which is provided so as to relatively displace with respect to the primary element by the elastic deformation of the elastic deformation member, and to receive a power transmission from the primary element via the elastic deformation member, the control device controlling a secondary power as a power applied to the secondary element by the power transmission to a desired value:
wherein the elastic deformation member is a member configured such that an elastic deformation coefficient expressing a rate of change of a generated elastic force of the elastic deformation member with respect to a change in a deformation amount thereof, becomes constant; wherein the control device comprises a control input determining unit configured to sequentially determine a control input for controlling the driving force of the actuator, with a control processing of a sliding-mode control using a switching function configured taking a deviation between an observed value and the desired value of the secondary power as a first variable component, and a temporal change rate of the deviation as a second variable component, so as to converge the first variable component on a switching hyperplane defined by the switching function to zero; and wherein a gradient of the switching hyperplane in a phase plane taking the first variable component and the second variable component as two coordinate axis components is set, so that a time constant of convergence of a value of the first variable component on the switching hyperplane defined by the gradient of the switching hyperplane to zero, becomes equal to or larger than a specific time constant, the specific time constant being a time constant realized in a case supposing that the value of the first variable component is changed stepwise from zero to a first permissible limit value, the first permissible limit value being a preliminarily set permissible limit value of a magnitude of the value of the first variable component, and also the convergence of the value of the first variable component to zero is performed so that a displacement acceleration of the primary element by the driving force of the actuator becomes a preliminarily set permissible limit value of the displacement acceleration. |
