| 摘要 |
A method and an apparatus for controlling a motor using a return spring and a decelerating gear are provided to prevent a static error, an overshoot, and an undershoot of the motor by compensating for the variation of a spring coefficient of the return spring. A first mixer(610) outputs an error by using a target position value and a current position value of a motor. A first controller(620) calculates a first control value for minimizing a maximum stop friction force by using the error from the first mixer. A second controller(630) calculates a second control value for preventing a stop error of the motor by using the error from the first mixer. A second mixer(640) mixes the first and second control values and outputs a third control value. A third controller(650) outputs a compensation value for compensating for an elastic force of a return spring. A third mixer(660) mixes the third control value with the compensation value and outputs a final control value. |
