MOTOR CONTROL METHOD

摘要

PURPOSE:To improve the responsibility and to attain a positioning job with high precision by increasing and reducing a proportion control area with the large and small positional deviation respectively. CONSTITUTION:An acceleration control area is separated from a deceleration control area centering on a target control line D. At the same time, the proportion control areas are secured at both sides of the line D. The width of the proportion control area is reduced as the positional deviation is decreased. Then the speed omega of a motor 1 is controlled along the line D. When the motor 1 continues its revolution, the positional deviation DELTAtheta is gradually decreased and at the same time the amplitude of the triangular wave of a control signal is gradually reduced. The control is not possibly unstable in an area having a low speed and therefore the gain is equivalently increased by reducing the amplitude of the triangular wave. Thus the responsibility and the precision are improved with control of the motor.