Title:
CONTROL DEVICE FOR POWER DEVICE
Document Type and Number:
WIPO Patent Application WO/2011/067976
Kind Code:
A1
Abstract:
With respect to a power device (1) wherein the power train between an actuator (2) and a driven element (5) has a spring member (4) and a speed reduction device (3) having elasticity characteristics, a control device determines an operation target for the actuator (2), in accordance with a linearly combined value of a value obtained by passing a value Δω12 and a value Δθdef through a low pass filter. The value Δω12 is the deviation between an estimated value ω1_e of the displacement velocity of an input section (4a) of the spring member (4), and an estimated value ω2_e of the displacement velocity of the driven element (5). The value Δθdef is the deviation between a measured value θdef_s of the displacement difference between the driven element (5) and the input section (4a) of the spring member (4), and a target value θdef_cmd of the displacement difference corresponding to a target driving force τref of the driven element (5).
Inventors:
ORITA, Atsuo (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
織田 豊生 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
織田 豊生 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
Application Number:
JP2010/066427
Publication Date:
June 09, 2011
Filing Date:
September 22, 2010
Export Citation:
Assignee:
HONDA MOTOR CO., LTD. (1-1 Minami-Aoyama 2-chome, Minato-ku Tokyo, 56, 〒1078556, JP)
本田技研工業株式会社 (〒56 東京都港区南青山二丁目１番１号 Tokyo, 〒1078556, JP)
ORITA, Atsuo (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
本田技研工業株式会社 (〒56 東京都港区南青山二丁目１番１号 Tokyo, 〒1078556, JP)
ORITA, Atsuo (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
International Classes:
B25J13/00
Attorney, Agent or Firm:
SATO & ASSOCIATES (Nishi-Shinjuku Mitsui Building 18F, 24-1 Nishi-Shinjuku 6-chome, Shinjuku-k, Tokyo 23, 〒1600023, JP)
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