发明名称 DRIVE CONTROLLER
摘要 <P>PROBLEM TO BE SOLVED: To provide a drive controller capable of carrying out stable control in an acceleration control interval of a driven body under a light load. <P>SOLUTION: A motor control unit 107 subjects a CR motor 96 to PID control and thereby moves a carriage 38. Function f<SB>01</SB>(s) expressed as a velocity profile for interval L<SB>01</SB>is smoothly continuous with respect to a variable s. This function f<SB>01</SB>(s) is expressed as, for example, a cubic polynomial with respect to the variable s. The function f<SB>01</SB>(s) is used to determine a target velocity in acceleration interval L<SB>01</SB>. Each time a feedback command is outputted, a target velocity F(t) for PID control is computed based on the function f<SB>01</SB>(s). The target velocity F(t<SB>1</SB>) at time t<SB>0</SB>is set to a value larger than 0 and smaller than the target velocity F(t<SB>0</SB>) as a control target value. <P>COPYRIGHT: (C)2010,JPO&INPIT
申请公布号 JP2009232527(A) 申请公布日期 2009.10.08
申请号 JP20080072828 申请日期 2008.03.21
申请人 BROTHER IND LTD 发明人 TERADA KOHEI;KASEYAMA TOMOAKI;YASAKI KENICHI;AKIYAMA SHIGEKI
分类号 H02P29/00 主分类号 H02P29/00
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