Patent ID: 9369068
Filing Date: 2016-06-14
CPC Classification: G05B

Claim Text:
1. A control device for a drive device including a first and a second actuators, a driven body that is driven by the actuators, and a power transmission mechanism that transmits the driving forces of the actuators to the driven body such that the driven body is driven by an amount equivalent to the total of the drive amounts of the actuators, the control device comprising: a first multiplier that outputs a value, which is obtained by multiplying a generated total drive command value by a first gain G a second multiplier that outputs a value, which is obtained by multiplying the total drive command value by a second gain G a first controller that controls the first actuator on the basis of the first drive command value; a second controller that controls the second actuator on the basis of the second drive command value; a gain calculator that calculates the gains G a first drive amount detector that detects the drive amount of the first actuator and outputs a value E a second drive amount detector that detects the drive amount of the second actuator and outputs a value E a total drive amount detector that detects the drive amount of the driven body and outputs a value E wherein the gain calculator calculates the first gain G the first and second gain calculation formulae are set such that the first and the second gains G E the gain calculator brings the first gain G