Harmonization control system for plural shafts

A harmonization control system for plural shafts comprising:

• plural drive shafts;
• drive control units each provided for one of the drive shafts for controlling driving of the drive shaft in response to an individually imparted set value;
• state parameter generation means for generating, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts produced by the drive control units;
• reference parameter generation means for generating, responsive to the parameter representing the drive control state of each drive shaft generated by the state parameter generation means, a reference parameter to be used as a reference of the harmonization control;
• correction means for correcting the drive control state of each drive shaft in each of the drive control units in response to the reference parameter;
• and
• intervention means for inputting a parameter of a desired value as a dummy parameter and said reference parameter generation means generates the reference parameter in response to the parameters representing the drive control states of the respective shafts generated by said state parameter generation means and the dummy parameter input by said intervention means;
• the respective drive shafts being harmoniously controlled in response to the reference parameter owing to this correction.

A harmonization control system for plural shafts wherein the plural shafts are divided in blocks each including one or more drive shafts and

• (a) said system comprises, for each block,
• (a-1) a drive control unit provided for each shaft in said block for controlling driving of each shaft in response to an individually imparted set value;
• (a-2) a synchronization control unit for controlling the set value imparted to each drive control unit so that movements of the respective shafts are synchronized in accordance with a predetermined synchronization condition;
• and
• (a-3) state parameter generation means for generating a parameter representing a representative drive control state concerning a predetermined object of harmonization control in said block,
• (b) said system further comprises
• reference parameter generation means for generating, responsive to parameters representing representative drive control states in the respective blocks generated by said state parameter generation means, a reference parameter to be used as a reference of the harmonization control, and
• (c) said system further comprises, for each block,
• correction means for correcting the drive control states of the respective shafts in said block in response to the generated reference parameter,
• movements of the respective shafts being synchronously controlled by said synchronization control unit in one block and being harmoniously controlled among all of the blocks in response to the reference parameter by correction by said correction means.