Patent ID: 9274514
Filing Date: 2016-03-01
CPC Classification: G05B,H02P

Claim Text:
1. A motor control apparatus comprising: a reference model unit configured to generate 1) a target value, which a control output of a controlled object including a motor is caused to follow, 2) a model output representing a desired operation of the controlled object, and 3) a model input for driving the controlled object to the desired operation; a feedback control unit configured to receive the control output and the model output, and to generate a feedback input for causing the control output to follow the model output; and a model input adder configured to add up the model input and the feedback input and generate a control input to the controlled object, wherein the reference model unit includes: a target-value storing unit configured to retain both of a present value of the target value and at least one of past values of the target value as a target value vector; a numerical model configured to simulate the characteristic of the controlled object and generate the model output and a state variable on the basis of the model input; a model controller configured to generate the model input using the state variable and the target value vector including the target value and the at least one of the past values of the target value; a model-controller determining unit configured to determine the model controller from a predetermined plurality of candidates of the model controller on the basis of the target value vector, including the present value of the target value and the at least one of past values of the target value, and the state variable such that the determined model controller generates a present target value for the motor to follow which suppresses vibrations, wherein the reference model unit further includes a model input memory configured to retain a past model input, the model controller generates the model input on the basis of the past model input, the model-controller determining unit determines a model controller on the basis of the past model input, and the model controller calculates a change amount of the model input on the basis of the target value vector, the state variable, and the past model input, and generates the model input by adding up the past model input and the change amount.