Control device, control system, and recording medium

A non-transitory recording medium storing a control program executed by a control device performing position control of a controlled object by giving a command value and a compensation command to a drive device that drives the controlled object, the drive device being configured to calculate an amount of operation of the controlled object on the basis of the command value from the control device and a feedback value from the controlled object, to correct the calculated amount of operation on the basis of the compensation command from the control device, and to give the corrected amount of operation to the controlled object, the control program causing the control device to perform:

• a step of
• giving a command for moving the controlled object in a first direction at a predetermined speed and a command for moving the controlled object in a second direction different from the first direction at the predetermined speed to the drive device, the drive device being configured to calculate an amount of operation of the controlled object on the basis of the command value from the control device and a feedback value from the controlled object, to correct the calculated amount of operation on the basis of the compensation command from the control device, and to give the corrected amount of operation to the controlled object, and
• determining a first compensation value in the first direction on the basis of a torque required for a movement in the first direction and determining a second compensation value in the second direction on the basis of the torque required for the movement in the second direction;
• a step of
• giving a command for changing the controlled object from a state of moving in the second direction to a state of stopping to the drive device and giving a command for reversing the moving direction of the controlled object to the first direction to the drive device;
• and
• determining a preceding switching time on the basis of a time required from when the compensation command is given to the drive device until a direction of a change over time of the feedback value from the controlled object;
• a step of sequentially updating the command value which is given to the drive device on the basis of a predetermined target trajectory;
• and
• a step of sequentially updating the compensation command given to the drive device on the basis of the command value given to the drive device,
• wherein the step of sequentially updating the compensation command includes a step of updating a value of the compensation command to a value corresponding a moving direction after a reversal;
• of the moving direction of the controlled object in the target trajectory when the reversal is advanced by the preceding switching time.

A control system comprising:

• a drive device, driving a controlled object;
• and
• a control device, performing position control of the controlled object by giving a command value and a compensation command to the drive device,
• wherein the drive device is configured to calculate an amount of operation of the controlled object on the basis of the command value from the control device and a feedback value from the controlled object, to correct the calculated amount of operation on the basis of the compensation command from the control device, and to give the corrected amount of operation to the controlled object, and
• the control device comprises:
• a first identification device configured to:
• give a command for moving the controlled object in a first direction at a predetermined speed and a command for moving the controlled object in a second direction different from the first direction at the predetermined speed to the drive device, the drive device being configured to calculate an amount of operation of the controlled object on the basis of the command value from the control device and a feedback value from the controlled object, to correct the calculated amount of operation on the basis of the compensation command from the control device, and to give the corrected amount of operation to the controlled object;
• and
• determine a first compensation value in the first direction on the basis of a torque required for a movement in the first direction and determine a second compensation value in the second direction on the basis of the torque required for the movement in the second direction,
• a second identification device configured to:
• give a command for changing the controlled object from a state of moving in the second direction to a state of stopping to the drive device and give a command for reversing the moving direction of the controlled object to the first direction to the drive device;
• and
• determine a preceding switching time on the basis of a time required from when the compensation command is given to the drive device until a direction of a change over time of the feedback value from the controlled object,
• a command value updating device configured to sequentially update the command value which is given to the drive device on the basis of a predetermined target trajectory, and
• a compensation command updating device configured to sequentially update the compensation command given to the drive device on the basis of the command value given to the drive device, and
• the compensation command updating device updates a value of the compensation command to a value corresponding a moving direction after a reversal of the moving direction of the controlled object in the target trajectory when the reversal is advanced by the preceding switching time.