| 摘要 |
<P>PROBLEM TO BE SOLVED: To graspe a present position Xdet without using a high-performance counter or an AISC (Application Specific Integrated Circuit) in place of the counter. <P>SOLUTION: This moving body controller includes: the two-phase counter 906 detecting each of two-phase pulse signals outputted from an encoder 910, and performing count processing; and a one-phase counter 907 detecting only A-phase pulse signals of them, and performing count processing. The moving body controller calculates a position error Xe that is a difference between a target position Xtgt and a present position acquired by the counters, outputs a target velocity Vtgt corresponding to the position error Xe from an amplification means 903, decides whether the position error Xe is a comparatively small value or a comparatively large value by an error decision means 905, determines the present position x2 by the two-phase counter 906 in the case of the comparatively small value, and determines a present position x1 by the one-phase counter 907 in the case of the comparatively large value. <P>COPYRIGHT: (C)2011,JPO&INPIT |
