Damping device

A damping device, comprising:

• a housing;
• a drive-side actuator that includes a drive-side stator and a drive-side mover and is connected to the housing;
• a damping-side actuator that includes a damping-side stator and a damping-side mover and is connected to the housing;
• a first signal calculator that generates a drive signal for the drive-side actuator based on a control command;
• and
• a second signal calculator that generates, when the drive-side actuator changes from a state in which jerk is large to a state in which the jerk is small, a drive signal for the damping-side actuator based on a signal obtained by subtracting a displacement suppression command from a vibration suppression command, the displacement suppression command being a command to suppress a displacement of the damping-side mover, the vibration suppression command being a command to reduce or offset, by a vibration component of the housing produced by driving of the damping-side actuator, a natural frequency component of the housing produced by driving of the drive-side actuator based on the control command, wherein
• the first signal calculator calculates a driver control command for generating the drive signal for the drive-side actuator based on the control command, and
• the second signal calculator:
• includes a filtering processor that includes a first filtering processor and a second filtering processor that are based on a mechanical constant of the damping device;
• calculates the vibration suppression command by passing the control command or the driver control command through the first filtering processor;
• calculates the displacement suppression command by passing the vibration suppression command through the second filtering processor;
• and
• calculates a damper control command for generating the drive signal for the damping-side actuator based on the signal obtained by subtracting the displacement suppression command from the vibration suppression command.