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Title:
POSITION CONTROL APPARATUS AND METHOD, PROGRAM, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2018/179566
Kind Code:
A1
Abstract:
This position control apparatus for controlling the position of a movable part of an actuator provided with an elastic support mechanism has: a position target signal generation unit (10) that outputs a position target signal (ref_p) indicating the target position of the movable part; a DC sensitivity division unit (14) that divides the DC sensitivity (DCSm) of a nominal model simulating the transmission characteristics of the actuator (30); and an external disturbance compensation unit (20) that compensates for a variation in characteristics of the actuator (30) and an external disturbance applied to the actuator (30). A Q value at a primary resonance frequency of the nominal model is set to -6 to 0 dB. According to the present invention, the problem regarding the trade-off between stability and responsiveness can be solved.

Inventors:
KANATAKE Yusuke (7-3 Marunouchi 2-chome, Chiyoda-k, Tokyo 10, 〒1008310, JP)
Application Number:
JP2017/040209
Publication Date:
October 04, 2018
Filing Date:
November 08, 2017
Export Citation:
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Assignee:
MITSUBISHI ELECTRIC CORPORATION (7-3 Marunouchi 2-chome, Chiyoda-ku Tokyo, 10, 〒1008310, JP)
International Classes:
G05D3/12; G05B11/36; G11B7/09
Domestic Patent References:
WO2005029477A12005-03-31
Foreign References:
JPH09128770A1997-05-16
JP2008034038A2008-02-14
JPH10149614A1998-06-02
JP2005174383A2005-06-30
JP2003151231A2003-05-23
JP2000274482A2000-10-03
Attorney, Agent or Firm:
MAEDA Minoru et al. (MAEDA & YAMAGATA, Koda Bldg. 4F 16-2, Yoyogi 2-chome, Shibuya-k, Tokyo 53, 〒1510053, JP)
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