Control device for power device

A control device of a power device, the power device including an actuator, a first power transmission element having an elastic characteristics with an input unit thereof being connected to a power output unit of the actuator, a second power transmission element with an input unit thereof being connected to an output unit of the first power transmission element and which converts and outputs a power imparted to the input unit to an elastic force, and a driven element which is connected to an output unit of the second power transmission element, and which performs an operational movement by a driving force transmitted from the actuator via the first power transmission element and the second power transmission element, in which the first power transmission element has the elastic characteristics of a higher rigidity than the second power transmission element, and the control device controlling the driving force actually imparted to the driven element from the actuator to a target driving force, the control device comprising:

• a primary side displacement position measuring element which generates an output indicating a measured value of an actual displacement position of the input unit of the second power transmission element;
• a secondary side displacement position measuring element which generates an output indicating a measured value of an actual displacement position of the driven element;
• a primary side-secondary side displacement difference measuring element which generates an output indicating a measured value of a primary side-secondary side displacement difference which is a difference between the actual displacement position of the input unit of the second power transmission element and the actual displacement position of the driven unit;
• a primary side displacement velocity estimating element which generates an estimated value of a primary side displacement velocity which is the actual displacement velocity of the input unit of the second power transmission element, at least based on the measured value of the primary side displacement position;
• a secondary side displacement velocity estimating element which generates an estimated value of a secondary side displacement velocity which is the actual displacement velocity of the driven element, at least based on the measured value of the secondary side displacement position;
• a first filtering element which generates a first filtering value which is obtained by performing a filtering process of a low-pass characteristics to a deviation between the measured value of the secondary side displacement velocity and the measured value of the primary side displacement velocity;
• a second filtering element which generates a second filtering value which is obtained by performing the filtering process of the low-pass characteristics to a deviation between a value of an elasticity measured amount, which is either one of the measured value of the primary side-secondary side deviation difference or an elastic force converted value which is obtained by converting the measured value of the primary side-secondary side deviation difference to an elastic force generated by the second power transmission element, and a target value of the elasticity measured amount defined by the target driving force;
• an actuator operation target determining element which determines an operation target defining an operation of the actuator according to a linear coupling value of the first filtering value and the second filtering value;
• and
• an actuator control element which controls the operation of the actuator according to the determined operation target.