公开(公告)号：US20180217564A1

公开(公告)日：2018-08-02

申请号：US15747515

申请日：2016-07-28

申请人： THK CO., LTD.

发明人： Shigeru Futami ,  Hitoshi Shibata ,  Tomofumi Ohashi

IPC分类号： G05B11/42 ,  G05D3/20

摘要： A new position control apparatus is provided which can reduce deviation caused by a non-linear spring characteristic of a rolling apparatus. In a position control apparatus (5) that controls the position of a movable body (1), in a positioning apparatus (9) including a rolling apparatus (2), a deviation e(t) or d of the movable body 1 caused by the non-linear spring characteristic of the rolling apparatus (2) is subtracted from or added to a position command Xref or r of the movable body (1). The deviation d is calculated by carrying out equivalent exchange on a control circuit for a friction force of the rolling apparatus (2), which is set as a quantity of the dimension of displacement.

公开(公告)号：US10754306B2

公开(公告)日：2020-08-25

申请号：US15747515

申请日：2016-07-28

申请人： THK CO., LTD.

发明人： Shigeru Futami ,  Hitoshi Shibata ,  Tomofumi Ohashi

IPC分类号： G05B11/42 ,  G05B11/36 ,  G05B19/19 ,  G05B19/402 ,  G05B19/404 ,  G05D3/20

摘要： A new position control apparatus is provided which can reduce deviation caused by a non-linear spring characteristic of a rolling apparatus. In a position control apparatus (5) that controls the position of a movable body (1), in a positioning apparatus (9) including a rolling apparatus (2), a deviation e(t) or d of the movable body 1 caused by the non-linear spring characteristic of the rolling apparatus (2) is subtracted from or added to a position command Xref or r of the movable body (1). The deviation d is calculated by carrying out equivalent exchange on a control circuit for a friction force of the rolling apparatus (2), which is set as a quantity of the dimension of displacement.