Apparatus and method for controlling actuator

An actuator control apparatus comprising:

• a speed observation unit configured to estimate a speed of a load based on a first state equation including at least one modeled load parameter;
• a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;
• a speed controller which outputs a first signal for controlling the speed of the load;
• a neural network unit configured to determine an output of the torque observation unit and outputs a second signal that is to be added to the first signal;
• a parameter compensation unit configured to receive a third signal which is a sum of the first signal and the second signal and compensates for the third signal, thus outputting a final control signal;
• and
• a parameter estimator configured to estimate a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter of the speed observation unit and the torque observation unit.

An actuator control apparatus comprising:

• a speed observation unit configured to estimate a speed and a position of a load based on a first state equation including at least one modeled load parameter;
• a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;
• a position controller configured to output a first signal for controlling the position of the load;
• a neural network unit configured to determine an output of the torque observation unit and outputs a second signal that is to be added to the first signal;
• a parameter compensation unit configured to receive a third signal obtained by adding the first signal to the second signal and compensate for the third signal, thus outputting a final control signal;
• and
• a parameter estimator which estimates a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter of the speed observation unit and the torque observation unit.

An actuator control apparatus comprising:

• a speed observation unit configured to estimate a speed and a position of a load based on a first state equation including at least one modeled load parameter;
• a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;
• a neural network unit configured to determine an output of the torque observation unit and to output a load torque compensation value that is to be added to a torque command;
• a torque controller which receives a value obtained by adding the torque command to the load torque compensation value and outputs a signal for controlling the torque of the load;
• a parameter compensation unit configured to compensate for the signal output from the torque controller and to output a final control signal;
• and
• a parameter estimator configured to estimate a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the modeled load parameter, and to update the modeled load parameter of the torque controller, the speed observation unit, and the torque observation unit.

An actuator control method comprising:

• estimating a state of a load based on a state equation including at least one modeled load parameter;
• outputting a control signal for controlling the load;
• compensating for the control signal;
• and
• estimating a change of a load parameter, deciding a degree of compensation of the control signal based on the estimated change of the load parameter, and updating the modeled load parameter.