Patent ID: 9519275
Filing Date: 2016-12-13
CPC Classification: G05B

Claim Text:
1. 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.