Drive control device, drive control method, and computer-readable storage medium

A drive control method of a drive control device that includes a plurality of drive instruction systems,

• each of the plurality of drive instruction systems including:
• a communication unit receiving an instruction about a position of a pitman arm from a higher-level device;
• an angle detection unit detecting an angle of the pitman arm;
• a calculation unit calculating a drive torque for the pitman arm based on the instruction and the angle of the pitman arm;
• a distribution unit distributing the drive torque according to a predetermined ratio;
• and
• a drive control unit controlling a drive unit,
• wherein one of the plurality of drive instruction systems performs a torque distribution process including a calculation process by the calculation unit and a distribution process by the distribution unit, and
• wherein the drive control unit in each of the plurality of drive instruction systems synchronously controls the drive unit with a torque distributed by the torque distribution process.

A computer-readable non-transitory storage medium storing a program causing a computer to function as a drive control device, the drive control device including a plurality of drive instruction systems,

• each of the plurality of drive instruction systems including:
• a communication unit receiving an instruction about a position of a pitman arm from a higher-level device;
• an angle detection unit detecting an angle of the pitman arm;
• a calculation unit calculating a drive torque for the pitman arm based on the instruction and the angle of the pitman arm;
• a distribution unit distributing the drive torque according to a predetermined ratio;
• and
• a drive control unit controlling a drive unit,
• wherein the program causes one of the plurality of drive instruction systems to perform a torque distribution process including a calculation process by the calculation unit and a distribution process by the distribution unit, and
• wherein the program causes the drive control unit in each of the plurality of drive instruction systems to synchronously control the drive unit with a torque distributed by the torque distribution process.