US 9,519,275 B2 · Actuator control method and actuator control device

Abstract

In an actuator control method and an actuator control device, time optimal control is used, and a switching time at which an acceleration output is switched to a deceleration output, and an end time of the deceleration output are calculated using a maximum acceleration and a maximum deceleration at the time of a maximum output of a control force. A control force of an actuator is set as a maximum acceleration output from a calculation time to the switching time, the control force of the actuator is set as a maximum deceleration output from the switching time to the end time, output of the control force is ended at the end time, and the switching time and the end time are repeatedly calculated, and updated for each preset time. The control output is reduced along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system. From this, an element of feedback control is incorporated in the time optimal control, and the control output is converged after the end of the control.

Claims16

Dependent claims

An actuator control method, using time optimal control comprising:

a calculation step of calculating a switching time (t1) at which an acceleration output is switched to a deceleration output, and an end time (t2) of the deceleration output expressed by an elapsed time from a calculation time (t0) at which calculation for control is performed using a maximum acceleration (αp) and a maximum deceleration (αm) at the time of a maximum output of a control force of an actuator, which are previously measured;
a control output step of setting the control force of the actuator as a maximum acceleration output from the calculation time (t0) to the switching time (t1), setting the control force of the actuator as a maximum deceleration output from the switching time (t1) to the end time (t2), and ending the output of the control force at the end time (t2);
an update step of repeating the calculation step for each preset time, and calculating and updating the switching time (t1) and the end time (t2);
and
a control output reduction step of reducing the control output along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system.

2 more elements

An actuator control device, using time optimal control comprising:

a memory;
and
a processor coupled to the memory and configured to:
calculate a switching time (t1) at which an acceleration output is switched to a deceleration output, and an end time (t2) of the deceleration output expressed by an elapsed time from a calculation time (t0) at which calculation for control is performed using a maximum acceleration (αp) and a maximum deceleration (αm) at the time of a maximum output of a control force of an actuator, which are previously measured;
set the control force of the actuator as a maximum acceleration output from the calculation time (t0) to the switching time (t1), set the control force of the actuator as a maximum deceleration output from the switching time (t1) to the end time (t2), and end the output of the control force at the end time (t2);
repeatedly calculate, and update the switching time (t1) and the end time (t2) for each preset time;
and
reduce the control output along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system.

5 more elements

Dependencies are inferred from the claim text.

Actuator control method and actuator control device

Life of this patent

Actuator control method and actuator control device

Life of this patent

Abstract

Claims16