Positional control of a controlled object during movement initiation

A positional control device for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

• means for calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object;
• and
• means for calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;
• wherein
• the means for calculating the torque command value includes means for calculating a torque compensation amount concerning friction that occurs when the controlled object initiates a movement, the means for calculating the torque compensation amount being used when calculating the torque command value;
• and
• the means for calculating the torque compensation amount calculates, based on the velocity command value and the torque command value, a torque compensation amount corresponding to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement.

A positional control device for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

• means for calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object;
• and
• means for calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;
• wherein
• the means for calculating the torque command value includes means for calculating a torque compensation amount concerning friction that occurs when the controlled object initiates a movement, the means for calculating the torque compensation amount being used when calculating the torque command value;
• and
• the means for calculating the torque compensation amount calculates, based on the velocity command value and the torque command value, a first torque compensation amount corresponding to a difference between torque being generated during a standstill state and torque required by the controlled object to initiate the movement, and a second torque compensation amount corresponding to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement.

A positional control method for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

• calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object;
• and
• calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;
• wherein
• the calculation of the torque command value includes calculating a torque compensation amount concerning friction that occurs when the controlled object initiates a movement;
• and
• the calculation of the torque compensation amount includes calculating, based on the velocity command value and the torque command value, a torque compensation amount corresponding to a difference between torque being generated during a standstill state and torque required by the controlled object to initiate the movement.

A positional control method for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

• calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object;
• and
• calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;
• wherein
• the calculation of the torque command value includes calculating a torque compensation amount concerning friction that occurs when the controlled object initiates a movement;
• and
• the calculation of the torque compensation amount includes calculating, based on the velocity command value and the torque command value, a torque compensation amount corresponding to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement.

A positional control method for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

• calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object;
• and
• calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;
• wherein
• the calculation of the torque command value includes calculating a torque compensation amount concerning friction that occurs when the controlled object initiates a movement;
• and
• the calculation of the torque compensation amount includes calculating, based on the velocity command value and the torque command value, a first torque compensation amount corresponding to a difference between torque being generated during a standstill state and torque required by the controlled object to initiate the movement, and a second torque compensation amount corresponding to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement.