Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer

A positioning control device of an actuator provided with a strain wave gearing, for driving and controlling the actuator provided with a configuration in which a rotation of a motor is reduced by the strain wave gearing and transmitted to a load shaft, and performing positioning control of the load shaft, the positioning control device comprising:

• a state-feedback control system with a state observer as a full-closed control system for driving and controlling the motor so that the load shaft is positioned at a target position, on the basis of an actually detected load position;
• wherein the state observer estimates motor shaft position and motor velocity based in the load shaft position and control inputted to the motor of the actuator in the state-feedback control system, the actuator being an object of control;
• and
• the state-feedback control system feeds back a state quantity of the object of control, using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained from the state observer, and
• wherein, when designing the state-feedback control system,
• both the motor shaft position and the load shaft position are fed back, P-PI compensator gain in a closed-loop system that includes a P-PI control system for performing positioning control on the load shaft is determined, and pole placement of the closed-loop system when a state-feedback gain of the state-feedback control system is zero is confirmed;
• and
• the state-feedback gain is derived so that, from among the poles in the confirmed closed-loop system, a vibration pole is arranged perpendicular to a pole on the real axis in order to change only attenuation of a vibration pole that is not on the real axis.