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AssigneeMitsubishi Heavy Industries, Ltd.
InventorsKeisuke Mochizuki, Ichiro Awaya, Katsuyoshi Takeuchi, Hirohisa Kuramoto
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The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.
A control device for a machine apparatus, the device comprising:
A gain determination method for friction compensation used in a control device that calculates an estimated value of a friction force produced in a machine apparatus, calculates a corrected value by multiplying the calculated estimated value by a predetermined gain, and corrects a torque command for the machine apparatus using the corrected value, the method comprising:
Dependencies are inferred from the claim text.