| 摘要 |
PROBLEM TO BE SOLVED: To provide a control apparatus, and so on, capable of controlling positioning of a moving object at high accuracy. SOLUTION: The control apparatus 1 includes a control signal generating unit 12 for generating a commanded moving position, based on a given target-moving position and a given target moving speed and controlling a drive motor 73 in a feeder 50, based on the generated commanded moving position; a learning control unit 16; and an initial-value setting unit 21. The initial-value setting unit is configured by: a data estimation unit 22 for estimating relative data between external force estimated to be generated, when a moving object 52 is moved to a target-moving position and a moving position of the moving object 52 based on relative data between external force defined by friction force, caused by a rolling element in the rotor 50, which is generated when the moving object 52 is moved in a reciprocative way, or a force equivalent to the friction force and moving position of the moving object 52; an error estimation unit 23 for calculating estimated external force, based on the estimated relative data and estimating a movement error amount on each commanded moving position; and a correction amount setting unit 24 for calculating a correction amount, based on the estimated movement error amount and setting the calculated correction amount as an initial value of learning control. COPYRIGHT: (C)2011,JPO&INPIT |
