| 摘要 |
<P>PROBLEM TO BE SOLVED: To allow an object to be driven by a motor to reach a target speed in a short time while suppressing vibration of the object. <P>SOLUTION: At every operation timing, an increase/decrease ΔMu[n] of a controller-calculated amount of operation U'[n] calculated by an FB controller 74 for this time with respect to an output amount of operation U[n-1] generated by an output amount of operation generating section 75 for the previous time is calculated. The driving period is divided into an initial block, an intermediate block, and an achievement block, depending on the time elapsed after driving is started, and a limit value M for the increase or decrease in the amount of operation is set for each block. When the increase/decrease ΔMu exceeds the limit value M[m], a corrected value calculating section 82 calculates a corrected value F[n] by cumulatively adding up the surplus. A second increase/decrease value calculating section 84 adds a corrected value F[n-1] up to the previous time to the increase/decrease value ΔMu[n] (so as not to exceed the limit value M[m]) in the intermediate block and lets it be an increase/decrease value ΔMn[n] of the output amount of operation. The output amount of operation generating section 75 generates an output amount of operation U[n] for this time by adding the increase/decrease value ΔMn[n] of the output amount of operation to the output amount of operation U[n] for the previous time. <P>COPYRIGHT: (C)2009,JPO&INPIT |
