| 摘要 |
PROBLEM TO BE SOLVED: To exactly detect that the movement of a movable section driven by a motor is under a trouble state due to the movable section in contact with an obstacle.SOLUTION: A motor control system 30 includes a motor 31, a driving force detector 33 for detecting a driving force of the motor 31, and a controller 37 for comparing the driving force detected by the driving force detector 33 with a threshold value while updating the threshold at every prescribed period. The controller 37 determines an average value of driving forces detected by the driving force detector 33 within each prescribed period and a difference between maximum and minimum values of the driving forces detected by the driving force detector 33 within each prescribed period, and updates the threshold value into an update value which is obtained by adding the average value to a value obtained by multiplying the difference by a prescribed coefficient. |
