| 摘要 |
<P>PROBLEM TO BE SOLVED: To control speed of an object to be driven with high precision. <P>SOLUTION: A motor control unit gradually increases a manipulated variable U until displacement of an object 10 to be driven is detected as speed V of the object to be driven measured using an encoder becomes larger than 0 (S140), and gradually decreases the manipulated variable U in a period in which acceleration A of the object to be driven is high after the displacement of the object 10 to be driven is detected (S160). Once the acceleration A of the object to be driven meets a predetermined condition (Yes in S150), feedback control is started, and a manipulated variable U is calculated on the basis of deviation of the speed V of the object 10 to be driven from a target speed Vr (S190). At this time, a trajectory of the target speed Vr is so set that the target speed Vr at the start point of the feedback control equals the speed V of the object to be driven at the point of time, and target acceleration Ar as a time differential of first order of the target speed Vr at the point of time is set as a trajectory substantially equals the acceleration A of the object to be driven at the point of time. <P>COPYRIGHT: (C)2013,JPO&INPIT |
