| 摘要 |
PROBLEM TO BE SOLVED: To eliminate a phenomenon that disturbance observer drives to move a motor in a direction to further strongly collide with an end of a moving area against its intention to solve the collision when the disturbance observer is used to control the motor. SOLUTION: An operation-stopping means is provided to stop the operation of disturbance observer which outputs a compensation signal Vcmp for compensating for a driving voltage V from a detection signal Vc from a speed sensor 8 detecting an angular velocity of a swing motor 10 moving a head 3 and the driving voltage signal V of the swing motor 10. When a signal voltage inside the disturbance observer exceeds a reference level, the operation-stopping means starts to operate. |
