| 摘要 |
<P>PROBLEM TO BE SOLVED: To identify a section where dirt is adhered to a linear scale and effectively suppress degradation in control performance in the section, in a motor controller that uses a linear encoder. <P>SOLUTION: When abnormal speed is detected in a carriage, following positions are detected: a position where abnormal speed is detected, when the carriage is driven from one end side of the scanning range and a position where abnormal speed is detected, when the carriage is driven form the other end side. The section between these positions is set as a compensation section (dirty section). When the carriage is driven, after the compensation section is set, the following processing is carried out at each computation timing, before it enters the compensation section: an amount of operation (normal amount of operation Ua) computed, based on the detected speed, and the like, at the computation timing is divided by a nominal amount of operation Un stored beforehand to compute a compensation factor α. In the compensation section, the following processing is carried out at each computation timing: the nominal amount of operation Un is multiplied by the compensation factor α (computed immediately prior to the carriage entering the compensation section) to compute a compensation amount of operation Uc and this is used for control in place of the normal amount of operation Ua. <P>COPYRIGHT: (C)2011,JPO&INPIT |
