Patent ID: 8082048
Filing Date: 2011-12-20
Classification: G05B

Abstract:
1. A position controlling device comprising: a driving system which applies acceleration and deceleration operations to a structure to be driven supported by and fixed on a base, wherein the position controlling device applies compensation for force displacement caused in the base by a reaction force of the structure to be driven, wherein the position controlling device controls an absolute position of the structure to be driven by detecting a position of the structure to be driven which is driven by a servo motor, wherein the position controlling device calculates a position instruction value for control according to a position instruction value from an upper device, wherein the position controlling device calculates a driving force of the servo motor based on the calculated position instruction value for control; an acceleration and deceleration processor which receives as an input the position instruction value and outputs: a position instruction value output portion which calculates and outputs the position instruction value for control by multiplying a position instruction value after compensation based on the position instruction value after acceleration and deceleration process by an adjustment transfer function; a thrust feed forward amount calculating portion which calculates a thrust feed forward amount for inhibiting a vibration based on the adjustment transfer function and the position instruction value after compensation based on the position instruction value after acceleration and deceleration process, and adds the obtained thrust feed forward amount to a driving force of the servo motor; a position deviation compensation amount calculating portion which calculates a position deviation compensation amount based on the acceleration instruction value output from the acceleration and deceleration processor, a rigidity of the base, and a mass of the driving system, the position deviation compensation amount to be used to compensate a position instruction deviation and a base displacement with the adjustment transfer function; and a subtractor which subtracts the position deviation compensation amount from the position instruction value after acceleration and deceleration process, to calculate the position instruction value after compensation, wherein the position instruction value after compensation is calculated by subtracting, from the position instruction value after acceleration and deceleration process, the position deviation compensation amount which is used to compensate the position instruction deviation and the base displacement with the adjustment transfer function, wherein the position instruction value for control is calculated and output by multiplying the calculated position instruction value after compensation by the adjustment transfer function, and wherein a thrust feed forward amount for inhibiting a vibration is calculated from the position instruction value after compensation and the adjustment transfer function.