| 摘要 |
A motor control apparatus is provided, including: a command generation unit that generates an acceleration pattern time-sequentially indicating an acceleration command value to be used during movement of a target object to a target position using a motor, makes a change to the generated acceleration pattern to prolong a period of reducing a driving speed of the motor in accordance with response characteristics of the motor, and outputs a position command value from the changed acceleration pattern; and a control unit that drives the motor using a proportional control with respect to a position deviation between the position command value output from the command generation unit and the target position of the target object, and changes a proportional control gain in the proportional control to a value larger than a current value when the target object reaches the vicinity of the target position. |
