| 摘要 |
PROBLEM TO BE SOLVED: To reduce deterioration of damping performance and positioning performance of a mobile body. SOLUTION: A controller 5 for controlling drive of the mobile body in a predetermined drive pattern includes a generation part 6 for generating a jerk pattern of the mobile body based on an instruction value for position or speed of the mobile body; and a filter part 7 for passing the jerk pattern therethrough to output a position instruction value of the mobile body. Since the position instruction value is obtained by passing the jerk pattern through the filter part 7 in the controller 5, a frequency component for exciting vibration of a resonance frequency component or the like in the position instruction value can be reduced. Further, in the controller 5, an adjusted jerk pattern is generated by adjusting the jerk pattern to be compressed only for a delay time determined from a transfer function of the filter part 7. Therefore, the instruction value can be matched to the position instruction value in terms of time. COPYRIGHT: (C)2009,JPO&INPIT
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