| 摘要 |
<P>PROBLEM TO BE SOLVED: To stop the subject of drive at a target position quickly with high accuracy. <P>SOLUTION: A motor control unit estimates an upper limit current value which can be input to the motor and executes a first control process (S140, S150) in which the motor is driven with a drive current corresponding to the upper limit value. In a second control process (S210, S220), a false upper limit current value which is smaller than the upper limit current value is calculated by changing coefficients used in an upper limit current value calculation formula, and the motor is driven with a drive current corresponding to the false upper limit current value. Then, in a third control process (S300), a target profile of a constant speed section and that of a deceleration section are set on the basis of a position P and a speed V of the subject of drive at termination of the second control process, and a current command value for the motor is adjusted so that the position and the speed of the subject of drive will track the position and the speed indicated by the target profiles. In this way, motor control is executed so that the current command value will not exceed the upper limit current value in an early stage of the third control process, thereby letting the subject of drive stop at the target position. <P>COPYRIGHT: (C)2013,JPO&INPIT |
