Actuator control device

An actuator control device for controlling first and second actuators comprising first and second pistons respectively connected to points of application of forces on a coaxial synchronous link, the points of application being located on opposite sides of a center of rotation of the coaxial synchronous link, the actuator control device comprising:

• a first servo valve for driving ejection and retraction of the first piston;
• a second servo valve for driving ejection and retraction of the second piston independently of the first servo valve;
• displacement sensors for detecting displacement positions of the first and second pistons, respectively;
• force sensors for measuring forces generated in the first and second actuators, respectively;
• and
• a control unit for controlling the first and second servo valves, the control unit configured to:
• detect the displacement position of the first piston,
• control the first servo valve by feedback control so that a position of the first piston matches a target position command value,
• measure both of forces generated in the first and second actuators,
• correct a target position command value for the second piston in accordance with an amount of imbalance between the forces, and
• control the second servo valve in accordance with a difference between the corrected command value and a feedback value of the displacement position of the second piston so that a position of the second piston matches the corrected command value.