Drive system, control method, and control program
AssigneeOMRON Corporation
InventorsAtsushi Ogawa, Yukio Iname, Teja Emmey
Life of this patent
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Abstract
A drive system includes an actuator that is driven by a motor to generate displacement, a driver that drives the motor, and a controller that gives a control instruction to the driver. The controller creates a physical model based on displacement caused by application of an external load to the actuator; generates a first control instruction to the motor such that the actuator generates the displacement according to the physical model; determines a spring constant; generates a second control instruction to the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator; and selects and validates one of the first and second control instructions.
Claims19
A drive system comprising:
- an actuator that is driven by a motor to generate displacement, the actuator being arranged to support a plate on which a workpiece is to be disposed;
- a driver configured to drive the motor;
- and
- a controller configured to give a control instruction to the driver,
- wherein the controller is configured to:
- create a physical model based on displacement caused by application of an external load to the actuator, the application of the external load including an action of disposing the workpiece on the plate;
- generate a first control instruction to the motor such that the actuator generates displacement according to the physical model;
- determine a spring constant;
- generate a second control instruction to the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator;
- and
- select and validate one of the control instructions of the first control instruction and the second control instruction.
A control method for an actuator that is driven by a motor to generate displacement, the actuator being arranged to support a plate on which a workpiece is to be disposed, the control method comprising:
- creating a physical model based on displacement generated by application of an external load to the actuator, the application of the external load including an action of disposing the workpiece on the plate;
- determining a spring constant;
- controlling the motor such that the actuator generates displacement according to the physical model;
- and
- switching control of the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator when a predetermined switching condition is satisfied while the motor is controlled such that the actuator generates the displacement according to the physical model.
A non-transitory storage medium encoded with a computer-readable control program for controlling an actuator that is driven by a motor to generate displacement, the actuator being arranged to support a plate on which a workpiece is to be disposed, the control program causing one or more processors to perform:
- creating a physical model based on displacement generated by application of an external load to the actuator, the application of the external load including an action of disposing the workpiece on the plate;
- determining a spring constant;
- controlling the motor such that the actuator generates displacement according to the physical model;
- and
- switching control of the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator when a predetermined switching condition is satisfied while the motor is controlled such that the actuator generates the displacement according to the physical model.
Dependencies are inferred from the claim text.