초록 ▼

Drive control units are provided each for one of plural drive shafts for controlling driving of the drive shaft in response to an individually imparted set value. A state parameter generation section generates, for each of the drive shafts, a parameter representing a state concerning a predetermined

Drive control units are provided each for one of plural drive shafts for controlling driving of the drive shaft in response to an individually imparted set value. A state parameter generation section generates, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts produced by the drive control units. As the object of harmonization control, a desired factor may be selected depending upon necessity for the harmonization control. A position loop gain or a velocity loop gain, for example, may be selected as the object of harmonization control. A reference parameter generation section generates, responsive to the generated parameter representing the drive control state of each drive shaft, a reference parameter to be used as a reference of the harmonization control. The drive control state of each drive shaft in each of the drive control unit is corrected in response to the generated reference parameter. In the drive control unit, driving of each shaft is controlled individually in response to a set value which is individually imparted but, by correcting the drive control state in response to the reference parameter, the drive state of each shaft is harmoniously controlled in response to the reference parameter whereby a control for harmonizing the movements of an extremely large number of drive shafts can be realized.

대표청구항 ▼

A harmonization control system for plural shafts comprising: plural drive shafts; drive control units each provided for one of the drive shafts for controlling driving of the drive shaft in response to an individually imparted set value; state parameter generation means for generating, for each of t

A harmonization control system for plural shafts comprising: plural drive shafts; drive control units each provided for one of the drive shafts for controlling driving of the drive shaft in response to an individually imparted set value; state parameter generation means for generating, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts produced by the drive control units; reference parameter generation means for generating, responsive to the parameter representing the drive control state of each drive shaft generated by the state parameter generation means, a reference parameter to be used as a reference of the harmonization control; and correction means for correcting the drive control state of each drive shaft in each of the drive control units in response to the reference parameter, the respective drive shafts being harmoniously controlled in response to the reference parameter owing to this correction.