JP2020108705A - Synchronization method when controlling identical rotor blade by using plurality of actuators - Google Patents

Abstract

To provide a synchronization method when controlling an identical rotor blade by using a plurality of actuators that can accurately control movements of a movable blade such as an aileron by giving correction value to the actuator that is not driven following a command and by outputting drive following the command by the correction value when the command is inputted in controlling the plurality of actuators.SOLUTION: In a method for synchronizing a plurality of actuators 3 controlling blades 2 of a model airplane, when synchronizing drives of n actuators Mn controlling the blades 2, with an actuator Ma as reference and an actuator Mb as an object to be synchronized, minimum value Amin of current is searched for by inputting a plurality of command values including reference command value to the actuators Ma, Mb and driving them, a difference between a command value for the actuator in the minimum value Amin and a reference command value is obtained, and the difference becomes a correction value α of the actuator Mb for synchronizing drive of the actuator Ma.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for synchronizing a plurality of actuators (servo motors) that control the movement of movable wings such as ailerons in a model airplane that is remotely controlled by wireless communication.

Generally, when flying a model airplane that is remotely controlled by wireless communication, a command is issued from the ground via a transmitter to operate a drive source such as an engine/motor, an aileron (auxiliary wing), a ladder ( By operating movable wings such as rudder, elevator (elevator), flap (high lift device), the aircraft is operated by propulsion, ascent, descent and turning.
The movement of the movable wing is controlled by an actuator (servo motor). For example, referring to FIG. 1 of Patent Document 1, a vertical tail is provided with a ladder for controlling the lateral movement of the airframe, and one actuator is attached to the airframe. The ladder and the actuator are connected via a linkage member.

Further, referring to FIG. 2 of the same document, an elevator for controlling the vertical movement of the aircraft is provided on the horizontal stabilizer, and one actuator is attached to the elevator. The elevator and the actuator are connected via a linkage member.
As described above, in a general model airplane, movable wings such as a ladder, an elevator, an aileron, and a flap are often controlled by one actuator.

JP, 2014-223158, A

By the way, there are various types of model aircraft for radio controlled remote control model airplanes. Among them, there is a large-sized airframe whose total length (airframe) and overall width (main wing) exceed 1 m. Therefore, the large model airplane has large and long main wings, horizontal tails, and vertical tails. Also, the movable wings such as ailerons are large and long.

When the movable blade becomes large and long, it becomes difficult to control the movement of the movable blade with one actuator, so that the movement of the movable blade is controlled by a plurality of actuators.
However, driving a plurality of actuators at the same time does not always drive the same amount. That is, even if commands of the same angle are input to a plurality of actuators, the output axes of the actuators do not all have the same angle.

For example, when the aileron is controlled by three actuators, even if a command for tilting 10° is input to the three actuators, even if one of them becomes 10°, the other actuators become 11°. In some cases, the drive cannot be performed according to the command such as ° or 9°.
The reason is that, for example, since actuators have individual differences, when a plurality of actuators are provided, the output shafts of those actuators are driven separately. This is due to the variation of the angle sensor built in the actuator.

Furthermore, in addition to the above-mentioned variations in the actuator, there is a problem in the accuracy of the linkage member that moves the aileron and the like (the accuracy of the assembly of the actuator and the movable wing). Therefore, even if the actuator operates as instructed, the moving blade may have operated at a different angle.
In this way, when a plurality of actuators drive differently in response to a command (different angles such as 11° and 9° with respect to 10°), they restrain each other and the actuators are damaged. .. Further, this causes twisting of the movable wings such as ailerons, resulting in problems in flight.

That is, it is necessary to control the drive of a plurality of actuators in synchronization.
Therefore, in view of the above problems, the present invention provides a correction value to an actuator that does not drive in accordance with an input command when controlling a plurality of actuators, and the correction value is input when the command is input. By outputting the drive according to the command by, the synchronization method when controlling the same blade using a plurality of actuators that can accurately control the movement of the movable blade (same blade) such as aileron, In other words, it is an object of the present invention to provide a method of synchronizing actuators mounted on a model airplane.

In order to achieve the above object, the following technical means were taken in the present invention.
A synchronizing method for controlling the same moving blade using a plurality of actuators according to the present invention is a method for synchronizing a plurality of actuators mounted on a model airplane and controlling movable wings of the model airplane, the wings being controlled. Upon tuning the driving of n actuators M _n which, among the actuator M _n, with respect to the a-th actuator M _a, and synchronized the b-th actuator M _b, with respect to the actuator, the reference of enter multiple command values including a command value, searches the a _min current value a becomes the smallest when the drives the two actuators M _a and the actuator M _b, the minimum value of the obtained current a _min And a reference command value for the actuator, and the obtained difference is used as a correction value α of the actuator M _b for synchronizing with the driving of the actuator M _a. ..

Preferably, the actuator _Mb is configured to be able to record the correction value α.
Preferably, in synchronizing the driving of the plurality of actuators M _n , it is preferable to follow the procedure of the following steps (S1) to (S12).
(S1): The work of dividing the rotatable range of the output shaft of the actuator into predetermined angles is performed for all _n actuators M _n .

(S2): Of the actuators M _n , the a-th actuator M _a is used as a reference actuator.
(S3) in one division of the those divided by :( S1), the reference of the actuator M _a, and inputs a command value θ for controlling the angle of the output shaft in any position.
(S4): The command value θ input in (S3) is used as the reference angle.

(S5): Among the plurality of mounted actuators M _n , the b-th actuator M _b is targeted for synchronization.
(S6): the actuator _{M a} and the actuator _{M b,} is driven by entering the command value θ determined in (S4).
(S7): the command value theta input to the actuator M _a, a value between the command value (θ + x) and the command value (θ-x) input to the actuator M _b, in the range of the command value (θ ± x) Drive it.

(S8) :( S7) when being driven within the command value (θ ± x), and measuring a current value A flowing through the actuator _{M a} and the actuator _{M b,} search the minimum value _{A min} of a current value To do.
(S9) :( a command value theta 'at the minimum value A _min of the search current value at S8), calculates a difference y between the command value theta criterion, the difference y, to synchronize with the driving of the actuator M _a The correction value α of the actuator M _b of However, x≧y.

(S10): The correction value α determined in (S9) is recorded in the actuator M _b .
(S11): in synchronized actuators M _b, in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value α in each division, the actuator Record in M _b .
(S12): Returning to (S5), the actuator M to be synchronized is newly selected from the plurality of actuators M _n , and the procedure up to (S11) is performed for all the actuators M _n to be synchronized. The correction value α is obtained for all the sections classified by a predetermined angle and recorded in each of the actuators M _n .

According to the present invention, when controlling a plurality of actuators, a correction value is given to an actuator that is not driven according to an input command, and when a command is input, drive is performed according to the command by the correction value. By outputting, it is possible to precisely control the movement of the movable wings (the same moving blade) such as the aileron and rudder.

It is the figure which showed typically the control system of the aileron (movable wing) with which the model airplane was equipped. 6 is a graph showing a procedure for obtaining a correction value for an actuator (servo motor).

Hereinafter, an embodiment of a synchronization method according to the present invention (a synchronization method in the case of controlling the same blade using a plurality of actuators) will be described with reference to the drawings.
It should be noted that the embodiment described below is an example in which the present invention is embodied, and the configuration of the present invention is not limited to the specific example. In addition, in the drawings, some of the components of the model airplane are omitted for clarity. The directions of the front and rear and the left and right of the wing are as shown in FIG.

First, the configuration of the model airplane will be described.
The machine body (fuselage) is long in the front-rear direction (longitudinal direction) and is hollow inside. A control mechanism (receiver, actuator 3 (servo motor), etc.) for controlling the machine body, a battery, a fuel tank, etc. are housed inside thereof. In the case of the propeller aircraft type, a drive unit such as a motor or an engine is attached to the nose side of the machine body.

A pair of left and right main wings 1 are attached to the center of the body in the front-rear direction. In the case of the jet type, a drive source (motor or engine) is attached to the main wing 1. The main wing 1 is provided with ailerons 2 and flaps.
The aileron 2 is also called an auxiliary wing, and is provided on the outer side of the rear portion of the main wing 1 and is a wing for controlling the movement (rolling, inclination) of the body around the longitudinal axis. The flap is also called a high lift device and is a wing provided inside the rear part of the main wing 1 and for generating lift of the airframe.

The vertical stabilizer is provided on the rear side in the front-rear direction of the body so as to project upward. A ladder is provided on the rear side of the vertical stabilizer. The rudder is also referred to as a rudder, and is a rudder that is provided on the vertical tail and controls the movement of the airframe around the vertical axis (yawing, horizontal movement).
A pair of left and right horizontal stabilizers are attached to the rear side of the body in the front-rear direction. An elevator is installed behind the horizontal stabilizer. The elevator, which is also called an elevator, is provided on the horizontal stabilizer and is a rudder for controlling the movement of the airframe around the horizontal axis (pitching, vertical movement of the nose).

The movement of movable blades (same rotor blades) such as aileron 2 (auxiliary blade), ladder (rudder), elevator (elevator), flap (high lift device) is controlled by actuator 3 (servo motor) to raise.・Maneuvering model airplanes such as descending and turning.
For example, regarding the operation of a radio-controlled model aircraft, when turning the aircraft in flight to the left, turn the rudder of the vertical tail to the left, raise the aileron 2 of the left main wing 1 and lower the aileron 2 of the right main wing 1. The aircraft turns to the left by tilting the fuselage to the left and raising the nose with the horizontal tail elevator facing down.

Since the airplane is in a floating state during flight, it is necessary to tilt the body with aileron 2 when changing the direction. Just tilting the aircraft will cause it to slide down diagonally, so raise the nose of the elevator.
Here, a synchronization method for controlling the same moving blade by using the plurality of actuators 3 (servo motors) according to the present invention will be described in detail.

In the present embodiment, the actuator 3 for controlling the aileron 2 will be described as an example, but the present invention is also applicable to the actuator 3 for controlling movable blades (same moving blades) such as a ladder, an elevator, and a flap. Is applicable.
FIG. 1 is a diagram schematically showing an outline of a control system of an aileron 2 provided on a main wing 1 (left main wing) of a model airplane, and is a view looking up from below (back side).

The present invention is a method of synchronizing a plurality of actuators 3 (servo motors) that control ailerons 2 and are mounted on a model airplane so that they can be fixed at arbitrary angles (positions) between predetermined angles. This is a synchronization method in which a plurality of controlled actuators 3 are mounted, the control angles of the plurality of actuators 3 can be synchronized, and the drive can be synchronized.
That is, in order to make the operation of the aileron 2 constant, the operations of the plurality of actuators 3 are synchronized (tuned).

First, the structure of the actuator 3 (servo motor) is as follows.
In the present embodiment, the plurality of actuators 3 are connected in series, and the ammeter 9 is connected between them.
Normally, the actuator 3 controls the rotation of the output shaft according to the angle sensor so as to stop at the position of the instructed angle θ (command value).

In the present embodiment, in order to correct the variation of the angle sensor (mainly the linearity of the sensor value with respect to the angle), the range in which the output shaft 4 can rotate (controllable angle range) is set at a predetermined interval (a certain degree of fineness). ), appropriate individual correction information (correction value α for the command value θ) is given to the actuator 3 in advance in each classification, and a mechanism for correcting the variation of the angle sensor is provided. ..

In this embodiment, the actuator 3 that can register a plurality of correction values α is adopted. That is, the actuator 3 of the present embodiment is a programmable servo that can be connected to the control device 11 or the like to register and change fine setting data.
The configuration for adjusting the actuator 3 is as follows.
When operating a single object (for example, aileron 2) with a plurality of actuators 3, if the angle sensors of each actuator 3 have variations, the actuators 3 as a whole appear to operate in the same manner, Focusing on the individual actuators 3, the control angle may be different with respect to the input command value θ (for example, θ=10° becomes 11°), and there may be a case where they restrain each other. is there.

As described above, if the two or more actuators 3 are restrained from each other, any of the actuators 3 or all the actuators 3 may be burned out. In order to prevent this, it is necessary to make a correction so that all the actuators 3 are driven in synchronization without restraining each other.
There are several methods for correcting the drive of the actuator 3, but in the present embodiment, only the restraint of the actuator 3 is focused. The actual linearity is not taken into consideration. In such a case, it is desirable to first arbitrarily determine a reference actuator 3 and match the linearity of the dependent actuator 3 with the reference actuator 3. In order to match the linearity of the dependent actuators 3, the configuration on the actuator 3 side is used for correction. At that time, the current consumed by the actuator 3 is used as a reference for correction.

The reason is that, for example, when the two actuators 3 restrain each other, the current consumed by the two actuators 3 increases. In such a state, the actuator 3 may be burned. In other words, if the restraint of the actuator 3 is eliminated, the consumed current will be settled to the minimum, so that it is used.
The synchronization method of the present invention will be described in detail.

As shown in FIG. 1, in the present embodiment, three actuators 3 (n=3) are mounted on the main wing 1, and the actuators M ₁ , M ₂ , and M ₃ are arranged in order from the left.
An output shaft 4 is provided on the actuator 3, and a servo horn 5 is attached to the output shaft 4. A linkage member 6 is attached to the tip of the servo horn 5. The ring member 6 has one end connected to the aileron 2.

That is, the aileron 2 is connected to the actuator 3 via the linkage member 6.
The actuator 3 is connected to a power supply line 7 to which power is supplied and a signal line 8 to which a command value θ is input. The input command value θ is a digital signal and is the same for all actuators 3. The signal line 8 is bidirectionally communicable. In this embodiment, the actuator 3 employs a digital servo. The power supply line 7 and the signal line 8 are connected to a control device 11 (test tool) including an ammeter 9 and a control unit 10.

The test tool 11 includes a control unit 10 having the synchronization method of the present invention built therein and an ammeter 9. This test tool 11 is connected to a model airplane before flight, and the actuator 3 is adjusted. After the adjustment is completed, the test tool 11 is removed from the model airplane. After that, the power supply line 7 and the signal line 8 are connected to a receiver inside the body.
In synchronizing the driving of the plurality of actuators M ₃ (servo motor M ₃ ), the procedure of steps (S1) to (S12) below is performed.

(S1): The rotatable range of the output shaft 4 provided on the actuator 3 is divided for each of the predetermined angles for all _three actuators M3.
The drive area of the actuator 3 (rotatable area of the output shaft 4) is divided into a plurality of sections at predetermined intervals (angles), and correction information can be registered for each section.
As shown in FIG. 2, for example, when the rotatable range of the output shaft 4 is 60°=±30° and is divided by 10°, “-30°, −20°, −10°, 0°, 10°, 20°, 30°”.

Here, for convenience, in order, "division 1 (-30°), division 2 (-20°), division 3 (-10°), division 4 (0°), division 5 (10°), division 6". (20°), division 7 (30°)”.
This division is performed for all three actuators M ₃ .
(S2): Of the three actuators _{M 3,} referenced to the second actuator _{M 2.}

When three actuators 3 are mounted, it is preferable to use the central one (the second actuator M _{2 in the} middle).
(S3) in one division of the those divided by :( S1), the actuator M ₂ of the reference, and inputs a command value θ for controlling the angle of the output shaft 4 at an arbitrary position.
For example, in the “division 5” of the reference actuator M ₂ , the command value θ for fixing the angle of the output shaft 4 to the position of 10° is input. That is, the command value θ=10° is input to the reference actuator M ₂ in “classification 5”.

(S4): The command value θ input in (S3) is used as the reference angle.
For example, in the “division 5” of the reference actuator M ₂ , the command value θ=10° is the reference angle.
(S5): Among the actuator _{M 3} being more mounted, the first actuator _{M 1} and synchronized. After that, the correction value α of the actuator M ₁ is obtained, and the correction value α of the actuator M ₃ is also obtained.

(S6): The command value θ determined in (S4) is input to the actuators M ₂ and M ₁ to drive them.
The actuator M ₂ and the actuator M ₁ are driven by inputting the command value θ=10° determined in (S4).
(S7): When the actuator M ₂ and the actuator M ₁ restrain each other after the command value θ is input and the current value A supplied to the actuator M ₂ and the actuator M ₁ increases, the reference command value that is input With respect to θ, the command value (θ+x) and the command value (θ−x) are input to the actuator M ₁ and continuously driven within the range of the command value θ′=(θ±x).

The command value θ is still input to the reference actuator M ₂ .
For example, with respect to the actuator _{M 1,} enter the 12 ° ~8 ° ((θ + x) ~ (θ-x)) command value for driving the range of theta ', drives the actuator _{M 1} in that range. That is, the aileron 2 is swung within the range of the command value θ′=(θ±x)=10°±2°.
(S8): While driving within the range of the command value θ′=(θ±x) in (S7), the current value A flowing in the actuator M ₂ and the actuator M ₁ is measured, and the actuator M ₂ and the actuator M are measured. The minimum value A _min of the current value when the restraint of ₁ is the minimum is searched for.

When the actuator M ₂ and the actuator M ₁ is mutually restrain each other, becomes the current value A is increased, since the actuator M ₂ and the actuator M ₁ is likely to burn, the minimum value A _min of current values which are not to restrain look for.
Then, until the minimum value A _min of the current value is searched, the input of the command value θ′=(θ±x) in (S7) and the measurement of the current value A in (S8) are repeated.

That is, the input command value θ′=(θ±x) is exchanged, the aileron 2 is swung within the range of the command value θ′, and the current when the restraint of the actuator M ₂ and the actuator M ₁ is minimized. Search until the minimum value A _min is found.
(S9): The difference y between the command value (θ+y) at the minimum current value A _min searched in (S8) and the reference command value θ is obtained. The difference y is set as the correction value α ₂₁ of the actuator M ₁ for synchronizing with the driving of the actuator M ₂ which is the reference. However, y≧x.

For example, in (S8), when the command value (θ+y) when the minimum current value A _min is searched for is 11°, the reference command value θ=10°, so the difference y=11°. -10°=1° is obtained. This value y=1° is used as the correction value α ₂₁ .
(S10): The correction value α ₂₁ determined in (S9) is recorded in the actuator M ₁ . That is, the correction value α ₂₁ =1° is written in the actuator M ₁ as the correction value in “category 5”. That is, the correction value α ₂₁ is registered in the actuator M ₁ as correction information for the command value θ=10°.

(S11): by an actuator _{M 1} to be synchronized in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value alpha ₂₁ in each division, Record to actuator M ₁ .
Regarding the correction value α ₂₁ , according to the procedure of (S6) to (S10), the correction value α ₂₁ suitable for each of the “division 1” to “division 7” of the actuator M ₁ is obtained. The correction value α ₂₁ becomes a graph as shown in FIG. The calculated correction value α ₂₁ is entirely written in the actuator M ₁ as correction information for each division.

That is, in the correction value α ₂₁ , correction information for the command value θ=−30° (“classification 1”), correction information for the command value θ=−20° (“classification 2”), command value θ=−10°. Correction information (“classification 3”), command value θ=0° correction information (“classification 4”), command value θ=10° correction information (“classification 5”), command value θ=20° correction Information (“classification 6”) and correction information (“classification 7”) for the command value θ=30° are included and registered in the actuator M ₁ .

Here, the connection between the actuator M ₂ and the actuator M ₁ may be released.
(S12) returning to :( S5), the actuator _{M 3,} newly picked the actuator M to be synchronized, (S11 the previous steps), performed on all the actuators _{M 3} to be synchronized Then, the correction value α ₂₃ is obtained for all of the sections classified by the predetermined angle and recorded in each of the actuators M ₃ .

Returning to (S5), for example, newly select the rest of the actuator M ₃ for synchronization. According to the procedure from (S6) to (S11), the correction value α ₂₃ of the actuator M ₃ for synchronizing with the driving of the actuator M ₂ which is the reference is obtained. The correction value α ₂₃ is calculated for each of “classification 1” to “classification 7”. The calculated correction value α ₂₃ is entirely written in the actuator M ₃ as correction information for each division.

Further, in the correction value α ₂₃ , similarly to the correction value α ₂₁ , correction information for the command value θ=−30° (“classification 1”), correction information for the command value θ=−20° (“classification 2”). , Correction information for command value θ=−10° (“classification 3”), correction information for command value θ=0° (“classification 4”), correction information for command value θ=10° (“classification 5”), The correction information for the command value θ=20° (“classification 6”) and the correction information for the command value θ=30° (“classification 7”) are included and registered in the actuator M ₃ .

Here, Table 1 shows the case of _five actuators M ₅ . The reference actuator 3 is M _3, and the actuators 3 to be synchronized are M ₁ , M ₂ , M ₄ , and M ₅ .
As shown in Table 1, in the correction value α, for example, with respect to α ₃₁ of the actuator M ₁ with respect to the reference actuator M ₃ , all the divided correction information (“classification 1” to “classification 7”) are included. There is.

That is, the actuator _{M 1,} relates to the correction value alpha _31, the correction value alpha ₃₁ with respect to the command value theta = -30 °, correction value alpha ₃₁ with respect to the command value theta = -20 °, correction value for the command value theta = -10 ° α _31, ···, the correction value alpha ₃₁ with respect to the command value θ = 10 °, the correction value alpha ₃₁ with respect to the command value θ = 20 °, the correction value alpha ₃₁ with respect to the command value theta = 30 ° is registered as correction information ..

It should be noted that, with respect to the actuator M ₂ , the actuator M ₄ , and the actuator M ₅ , as in the case of the actuator M ₁ , all the pieces of corrected correction information are registered.
As described above, when the actuator 3 in which all the divided correction values α are registered in advance is input with an arbitrary (predetermined division) command value θ, the correction value α corresponding to the command value θ causes the aileron. 2 operates according to the command value θ.

By the way, in the synchronizing method of the present invention, all the steps (S1) to (S12) can be automated. For example, the function of the present invention may be mounted on a test tool 11 (control device) that can be attached to and detached from the machine body and automatically executed.
Further, when there are a plurality of subordinate actuators 3, it is desirable that the correction work be performed in order from the actuators 3 that are mounted near the reference actuator 3. At that time, it is necessary to remove the wiring (the signal line 8 and the power supply line 7) from the actuator 3 which has not been corrected. On the other hand, with respect to the actuators 3 that have been corrected, the remaining actuators 3 may be connected while being corrected.

Further, regarding the reference actuator 3, it is preferable that when two actuators are mounted, one of them is used, and when three actuators are mounted, the actuator is the central one (second in the middle). When four actuators are mounted, it is desirable to use the central (second or third central) actuator 3 as a reference as much as possible.
According to the present invention, when controlling the plurality of actuators 3 (servo motors), the correction value α is given to the actuator 3 that is not driven according to the input command value θ, and the command value θ is input. Then, by outputting the drive along the command value θ by the correction value α, it is possible to accurately control the movement of the movable blade (the same blade) such as the aileron 2.

The present invention is applicable not only to the moving blades of the model airplane described in detail above but also to the steering of a model car (radio control car), for example. Further, although the present invention describes the synchronization method in wireless communication, it is useful not only in wireless communication but also in wired communication control.
However, the embodiments disclosed this time are to be considered as illustrative in all points and not restrictive.

In particular, in the embodiments disclosed this time, matters not specified, such as operating conditions and operating conditions, dimensions and weights of components, do not depart from the scope normally practiced by those skilled in the art, and do not fall within the ordinary range. If you are a trader, we have adopted the items that can be easily assumed.

1 Main wing 2 Aileron 3 Actuator (servo motor)
4 Output shaft 5 Servo horn 6 Linkage member 7 Power line 8 Signal line 9 Ammeter 10 Controller 11 Control device (test tool)

Claims (3)

In a method of synchronizing actuators for controlling a movable wing of a plurality of model aircraft, the actuators being mounted on the model aircraft,
In synchronizing the drive of the _n actuators M _n controlling the wings,
Of the actuators M _n , the a-th actuator M _a is used as a reference, and the b-th actuator M _b is used as a synchronization target,
To the actuator, by entering a plurality of command values including a command value of the reference, to explore A _min current value A becomes the smallest when the drives the two actuators M _a and the actuator M _b,
The difference between the command value for the actuator at the obtained minimum value A _min of the current and the reference command value is obtained,
The obtained difference is set as a correction value α of the actuator M _b for synchronizing with the driving of the actuator M _a . A synchronization method for controlling the same blade using a plurality of actuators. The synchronization method for controlling the same moving blade using a plurality of actuators according to claim 1, wherein the actuator _Mb is configured to record the correction value α. When the driving of the plurality of actuators M _n is synchronized, the same blade is formed by using the plurality of actuators according to claim 1 or 2, wherein the steps are performed in accordance with the following steps (S1) to (S12). Synchronization method when controlling.
(S1): The work of dividing the rotatable range of the output shaft of the actuator into predetermined angles is performed for all _n actuators M _n .
(S2): Of the actuators M _n , the a-th actuator M _a is used as a reference actuator.
(S3) in one division of the those divided by :( S1), the reference of the actuator M _a, and inputs a command value θ for controlling the angle of the output shaft in any position.
(S4): The command value θ input in (S3) is used as the reference angle.
(S5): Among the plurality of mounted actuators M _n , the b-th actuator M _b is targeted for synchronization.
(S6): the actuator _{M a} and the actuator _{M b,} is driven by entering the command value θ determined in (S4).
(S7): the command value theta input to the actuator M _a, a value between the command value (θ + x) and the command value (θ-x) input to the actuator M _b, in the range of the command value (θ ± x) Drive it.
(S8) :( S7) when being driven within the command value (θ ± x), and measuring a current value A flowing through the actuator _{M a} and the actuator _{M b,} search the minimum value _{A min} of a current value To do.
(S9) :( a command value theta 'at the minimum value A _min of the search current value at S8), calculates a difference y between the command value theta criterion, the difference y, to synchronize with the driving of the actuator M _a The correction value α of the actuator M _b of However, x≧y.
(S10): The correction value α determined in (S9) is recorded in the actuator M _b .
(S11): in synchronized actuators M _b, in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value α in each division, the actuator Record in M _b .
(S12): Returning to (S5), the actuator M to be synchronized is newly selected from the plurality of actuators M _n , and the procedure up to (S11) is performed for all the actuators M _n to be synchronized. The correction value α is calculated for each of the predetermined angles and recorded in each of the actuators M _n .

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