| 摘要 |
A motor control apparatus (1) comprising: a command generator (11) for generating an acceleration pattern that chronologically shows acceleration command values used when making a target object (34) move to an intended position using a motor (31), the command generator performing a change to extend the time to decelerate the drive speed of the motor (31) in accordance with the response properties of the motor (31) relative to the generated acceleration pattern, and the command generator outputting a position command value from the modified acceleration pattern; and a controller (12) for driving the motor (31) using proportionate control related to the location deviation between the position control value outputted by the command generator (11) and the intended position of the target object (34), and changing the proportionate control gain in the proportionate control to a value greater than the current value when the target object (34) arrives in the vicinity of the intended position. |
