Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer

A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load s...

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Bibliographische Detailangaben
Hauptverfasser:	Okitsu, Yoshifumi, Yamamoto, Masafumi, Iwasaki, Makoto
Format:	Patent
Sprache:	eng
Schlagworte:	BLASTING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING ENGINEERING ELEMENTS AND UNITS FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GEARING GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HEATING LIGHTING MECHANICAL ENGINEERING MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES THERMAL INSULATION IN GENERAL WEAPONS
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Beschreibung
Zusammenfassung:	A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.