Patent ID: 9606517
Date: 2017-03-28
CPC Classifications: G05B

Claim:
1. An actuator control method of accelerating and decelerating a controlled object to reach a target position by controlling an output of a control force of an actuator, comprising: comparing a kinetic energy of the controlled object with an amount of a work that can be done by braking, which work is defined as the amount of work done by braking the controlled object in motion in a deceleration state until the controlled object reaches the target position from a present position, by a comparison unit of an actuator control device, switching from driving to braking when the kinetic energy of the controlled object and the amount of the work that can be done by braking become equal, by a switching unit of the actuator control device; repeatedly comparing the kinetic energy of the controlled object with the amount of the work that can be done by braking at each preset time, by the actuator control device; taking a sum of the kinetic energy of the controlled object and an absolute value of the amount of the work that can be done by braking, and setting the sum to a control evaluation value for ending control, by the actuator control device; and reducing an upper limit value of a control output in proportion to the control evaluation value, by the actuator control device.