The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 14, 2016
Filed:
Nov. 21, 2014
Ihi Aerospace Co., Ltd., Tokyo, JP;
Sinfonia Technology Co., Ltd., Tokyo, JP;
IHI AEROSPACE CO., LTD., Tokyo, JP;
SINFONIA TECHNOLOGY CO., LTD., Tokyo, JP;
Abstract
Multipliersandoutput values, which are obtained by multiplying a total drive command value Eby first and second gains Gand G, respectively, as first and second drive command values Eand E. Controllersandcontrol first and second actuators (motors)and, respectively, on the basis of the first and second drive command values. The detection values of the drive amounts of the actuators are denoted by Eand E, respectively, and the detection value of the drive amount of a driven body is denoted by E. A gain calculatorcalculates the gains Gand Gon the basis of E, Eand E. An upper limit value of E, which denotes the drive amount of the driven body, is denoted by L. When E, Eor Eapproaches zero, the first gain Gis brought close to (E−L/2)/(E−L).