Patent ID: 9715124
Date: 2017-07-25
CPC Classifications: G02B,G03B,H02N,H02P,H04N

Claim:
1. A control device, comprising: a controller configured to output a first control signal pertaining to a first direction and a second control signal pertaining to a second direction crossing the first direction based on predetermined gains in a normal operation mode, and to output a third control signal and a fourth control signal based on gains set with respect to the first direction and the second direction, respectively, in a learning operation mode; and a controlled amount calculating unit configured to receive the first control signal, the second control signal, the third control signal and the fourth control signal, and to output a fifth control signal and a sixth control signal pertaining to drive parameters with respect to at least a first motor and a second motor, respectively, the first motor and the second motor being configured to drive a moving body, wherein the controlled amount calculating unit comprises: a characteristic difference calculating unit configured to calculate characteristic differences between at least the first motor and the second motor based on the third control signal and the fourth control signal; and a gain compensator configured to adjust a controlled amount pertaining to drive parameters of at least the first motor and the second motor according to the calculated characteristic differences of at least the first motor and the second motor, and to output the fifth control signal and the sixth control signal.