| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable a driving object to be driven properly under any drive conditions, by converging control parameters into proper values during the drive of the driving object according to each drive condition, even if there are a plurality of drive conditions (dynamic characteristics) of the driving object to be driven by a motor. <P>SOLUTION: Adjustable control parameters that are used for controlling a CR motor 10, that drives a carriage 17 are individually provided, according to the driving direction of the carriage 17 (a first adjusting parameter αa and a second adjusting parameter αb). After the drive of the carriage 17 is started, a control parameter adjusting portion 77 selects any one of the adjusting parameters, corresponding to the drive direction and inputs it to a controller 75. Then, the selected adjusting parameter is adjusted by a model-standard adaptive control method, and the adjusted values are inputted into the controller 75 at each adjustment. Thereby, the reciprocating drive of the carriage 17, that has different dynamic characteristics depending on the drive directions, can be performed properly. <P>COPYRIGHT: (C)2007,JPO&INPIT |
