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Positional control of a controlled object during movement initiation

  • US 20030201746A1
  • Filed: 04/28/2003
  • Published: 10/30/2003
  • Est. Priority Date: 04/30/2002
  • Status: Active Grant
First Claim
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1. A positional control device for controlling a position of a controlled object by generating a command for a drive motor of a controlled object system in accordance with a positional command value supplied from a superordinate device, comprising:

  • means for calculating, using the positional command value, a velocity command value which serves as a command concerning velocity of the controlled object; and

    means for calculating, using the positional command value and the velocity command value, a torque command value which serves as a command concerning torque generated by the drive device;

    wherein the means for calculating the torque command value includes means for calculating a torque compensation amount concerning friction occurring when the controlled object initiates a movement, the means for calculating the torque compensation amount being used when calculating the torque command value; and

    the means for calculating the torque compensation amount calculates, based on the velocity command value and the torque command value, a torque compensation amount corresponding to a difference between torque being generated during a standstill state and torque required by the controlled object to initiate the movement.

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