Title:
POSITION CONTROLLER, POSITION CONTROL METHOD, OPTICAL APPARATUS AND IMAGING APPARATUS
Document Type and Number:
Japanese Patent JP2016118892
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide position control capable of suppressing a steady-state deviation even when a disturbance outside an estimation range of a disturbance observer occurs in sliding mode control.SOLUTION: A position controller comprises a sliding mode control unit 603, a disturbance observer 605, and a disturbance detection unit 606. The sliding mode control unit 603 performs output to a control signal output unit 104 and drive control of a linear motor 106 via a motor driver 105. A disturbance evaluation unit 607 evaluates an estimation disturbance by the disturbance observer 605 and a detection disturbance by the disturbance detection unit 606, and changes a nonlinear term gain of the sliding mode control unit 603. The disturbance evaluation unit 607 performs control so as to increase the nonlinear term gain and suppresses a steady-state deviation at the time of sliding mode control when the estimation disturbance or detection disturbance is increased.SELECTED DRAWING: Figure 6
Inventors:
ISHIBASHI TAKUYA
Application Number:
JP2014257588A
Publication Date:
June 30, 2016
Filing Date:
December 19, 2014
Export Citation:
Assignee:
CANON KK
International Classes:
G05B13/02; G03B17/00; G05B13/00; G05D3/12
Attorney, Agent or Firm:
Ryoichi Takaoka