Patent ID: 7463938
Filing Date: 2008-12-09
Classification: G05B

Abstract:
1. A control operation device which receives a position feed-forward signal (xff), a torque feed-forward signal (tff), and a position detection value (xfb) of a controlled object, calculates a manipulated variable so that the position detection value (xfb) coincides with the position feed-forward signal (xff), and outputs the manipulated variable, the control operation device, comprising: an error signal calculation unit; and an error compensation operation unit, wherein the error signal calculation unit outputs a signal given by multiplying an error (err) given by subtracting the position detection value (xfb) from the position feed-forward signal (xff) by a gain α as an error command (err_ref), and outputs a signal given by changing a sign of the error (err) and multiplying a gain β as an error feedback value (err_fb), and wherein the error compensation operation unit controls so that the error command (err_ref) and the error feedback value (err_fb) coincide, and outputs an error torque command value (err_tref), and adds the torque feed-forward signal (tff) and the error torque command value (err_tref) to give the manipulated variable (tref).