IMBALANCE TORQUE COMPENSATION CONTROL APPARATUS FOR DRIVING DEVICE AND IMBALANCE TORQUE COMPENSATION CONTROL METHOD THEREFOR

摘要

The present invention relates to an imbalance torque compensation control method for a driving device, and an imbalance torque compensation control apparatus calculating imbalance torque of a driving device mounted in a platform in real-time to compensate the imbalance torque. The imbalance torque compensation control apparatus comprises: the driving device mounted in the platform; a posture measurement unit detecting posture information of the platform and the driving device; an imbalance torque calculation unit calculating the imbalance torque of the driving device caused by weight imbalance in real-time based on the detected posture information; and a control unit compensating a torque command of the driving device using the imbalance torque calculated in the imbalance torque calculation unit.;COPYRIGHT KIPO 2016