Title:
DRIVE CONTROL DEVICE, DRIVE CONTROL SYSTEM, TORQUE CONTROL DEVICE, AND ASSISTANCE CONTROL DEVICE
Document Type and Number:
Japanese Patent JP2018067284
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a drive control device capable of improving, to the utmost, accuracy in disturbance estimation regardless of a driving state of a drive part in view of a viscosity change in the disturbance estimation even when applied to a mechanism part having a viscosity change.SOLUTION: Different parts of a device will be described. In a drive-detection part 230, a motor driver 235 drives, via an actuator 232 of a drive part 231, an electric motor of a mechanism part which is coupled to a control object and which contains a lubricant and has a viscosity change, a drive information detection part 236 detects drive information of the drive part 231, and a current detection part 234 detects a current of the drive part 231. In a CPU 210, a disturbance estimation part 238 estimates load disturbance applied to the mechanism part on the basis of the current and the drive information, a drive control part 213 controls a drive command to the drive part 231 on the basis of a viscosity coefficient related to the mechanism part and the drive part 231 contained in the load disturbance and on the basis of the drive information, and the drive control part 213 also corrects a value of the viscosity coefficient upon the load disturbance estimation in accordance with stop time while the mechanism part is stopped by the drive part 231.SELECTED DRAWING: Figure 2
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Inventors:
TAKESUTE AKIHIRO
SUGIYAMA KEISUKE
KOJIMA AKIRA
YAMADA ATSUSHI
SATO MASATADA
SUGIYAMA KEISUKE
KOJIMA AKIRA
YAMADA ATSUSHI
SATO MASATADA
Application Number:
JP2017010668A
Publication Date:
April 26, 2018
Filing Date:
January 24, 2017
Export Citation:
Assignee:
RICOH CO LTD
International Classes:
G05D3/12; B25J3/00
Attorney, Agent or Firm:
Takashi Satoru