Control device, electric actuator, control method, and program

Abstract

The present invention provides a control device, an electric actuator, a control method, and a program that can improve the accuracy of detecting the rotational position of a driven part. [Solution] A control device for an electric actuator comprising a motor, a driven part that rotates when the motor is driven, and a rotation sensor that outputs an output voltage based on the rotational position of the driven part, comprising a control unit capable of performing correction processing. The control unit receives a first input voltage based on the output voltage and a second input voltage based on the actual power supply voltage applied to the rotation sensor. In the correction processing, the control unit corrects the output voltage obtained based on the first input voltage based on relational information representing the relationship between the output voltage and the rotational position when a reference voltage is applied to the rotation sensor as a power supply voltage, and the second input voltage.

Claims

1. A control device for an electric actuator comprising a motor, a driven part that rotates when the motor is driven, and a rotation sensor that outputs an output voltage based on the rotational position of the driven part, It is equipped with a control unit capable of performing correction processing, The control unit includes: A first input voltage based on the output voltage, A second input voltage based on the actual power supply voltage applied to the rotation sensor, The following was entered: In the correction process, the control unit corrects the output voltage obtained based on the first input voltage based on relational information representing the relationship between the output voltage and the rotational position when a reference voltage is applied to the rotation sensor as a power supply voltage, and the second input voltage.

2. In the correction process, the control unit, Based on the second input voltage and the reference voltage, the ratio of the actual power supply voltage to the reference voltage is calculated, and, The control device according to claim 1, which corrects the output voltage using the ratio.

3. The control device according to claim 1, wherein the control unit calculates the rotation position based on the output voltage corrected by the correction process and the related information.

4. The control device according to claim 1, wherein the second input voltage is a voltage divider of the actual power supply voltage.

5. The control device according to claim 1, wherein the second input voltage is a filtered voltage.

6. The control device according to claim 1, wherein the first input voltage is a voltage divider of the output voltage.

7. The control device according to claim 1, wherein the first input voltage is a filtered voltage.

8. The control device according to claim 1, wherein the rotation sensor is a magnetic sensor.

9. A control device according to any one of claims 1 to 8, The motor and, The rotation sensor and, An electric actuator equipped with the following features.

10. A control method for an electric actuator comprising a motor, a driven part that rotates when the motor is driven, and a rotation sensor that outputs an output voltage based on the rotational position of the driven part, This includes performing a correction process. The correction process is a control method that includes correcting the output voltage obtained based on a first input voltage based on relational information representing the relationship between the output voltage and the rotational position when a reference voltage is applied to the rotation sensor as a power supply voltage, and a second input voltage based on the actual power supply voltage applied to the rotation sensor.

11. The aforementioned correction process is performed as follows: The ratio of the actual power supply voltage to the reference voltage is calculated based on the second input voltage and the reference voltage. Correcting the output voltage using the ratio, The control method according to claim 10, including the method described in claim 10.

12. The control method according to claim 10, comprising calculating the rotational position based on the output voltage corrected by the correction process and the related information.

13. The control method according to claim 10, wherein the second input voltage is a voltage divider of the actual power supply voltage.

14. The control method according to claim 10, wherein the second input voltage is a filtered voltage.

15. The control method according to claim 10, wherein the first input voltage is a voltage divider of the output voltage.

16. The control method according to claim 10, wherein the first input voltage is a filtered voltage.

17. The control method according to claim 10, wherein the rotation sensor is a magnetic sensor.

18. A program that causes a computer to execute the control method described in any one of claims 10 to 17.

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