Patent ID: 6639374
Filing Date: 2003-10-28
Classification: G05B

Abstract:
A method of controlling a DC servomotor of a rotating load driving device which comprises: a drive member driven and rotated by said DC servomotor: an operation member attached to an operation shaft of a rotating load, a rotational range of which is mechanically limited; and a wire coupling said operation member and said drive member; said rotating load being rotated with the rotation of said operation load which is pulled through said wire by said drive member and is rotated, when said drive member being driven by said servomotor,said method comprising: a motor driving step of driving said motor such that a sufficiently large driving current flows to said motor to rotate said rotating load toward a limit position: and a driving current attenuating step of gradually attenuating said driving current to be finally zero after said motor stops in said motor driving step, and said method controlling said driving current of said motor to bring a deviation between a target position of said drive member corresponding to a target position of said rotating load and a current position of said drive member to be zero, while keeping the position of said drive member not to be beyond said final stop position, after detecting a rotational position of said drive member at the point when said driving current becomes zero in said driving current attenuating step as a final stop position of said drive member.