Title:
METHOD FOR PERFORMING SYNCHRONOUS CONTROL ON A PLURALITY OF ACTUATORS OR MOTORS
Document Type and Number:
Japanese Patent JP2021083230
Kind Code:
A
Abstract:
To provide a simple synchronous control method for eliminating synchronous control errors among a plurality of actuators without being limited by, for example, differences among characteristics and operated loads of the respective actuators.SOLUTION: A drive device comprising a control unit 13 for receiving position data from respective position detectors 12a to d and speed data detected by respective speed detectors 11a to d, a speed control unit for correcting speed of respective actuators 3a to d or motors 4a to d, a position synchronous control unit for modifying the speed of the respective actuators or motors so that positions of the respective actuators or motors agree with one another, an operation input unit 2 for inputting operation of extension/contraction of a leg of a user, and a power supply device 10 for feeding power supply to the control unit 13 and the like calculates position differences maximized between each actuator or motor and the remaining actuators or motors and modifies speed of the actuator or motor using the speed control unit in order to make the maximized position differences of the actuator or motor be zero.SELECTED DRAWING: Figure 2
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Inventors:
NAGAE HIRONORI
Application Number:
JP2019209293A
Publication Date:
May 27, 2021
Filing Date:
November 20, 2019
Export Citation:
Assignee:
AICHI ELECTRIC CO LTD
International Classes:
H02P5/46