| 摘要 |
<P>PROBLEM TO BE SOLVED: To control the operation amount of a control object with no influence of chattering in a transmission system even before learning the amount of the play of the transmission system in such a system as the play (chattering) exists in the system for transmitting the rotation of a motor to the control object. <P>SOLUTION: Before the amount of the play of a transmission system is learnt, overshoot control for controlling the rotational position of a motor to overshoot a target range position before being reversed is performed at the time of switching a range. The overshoot amount of the motor is set identical to the amount of reversion and set at the maximum design value of the play of the transmission system. After the amount of the play of the transmission system is learnt, a target count is set while taking account of the learnt value of the play and the rotational direction of the motor at the time of switching the range. The motor is stopped at a position where the count of an encoder coincides with the target count without overshooting. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
