Patent ID: 7068002
Filing Date: 2006-06-27
Classification: G05B,H02P

Abstract:
1. A motor control device comprising: a encoder for detecting, as a position-detection signal, rotational position of a motor driving a control target object; a motor controller for controlling the motor by means of a position loop, based on position-deviation equal to the difference between a position-instruction signal instructing the rotational position of the motor, and the position-detection signal; an differentiator for generating an original acceleration-instruction signal for accelerating or decelerating the motor; a current limiter for, when a current-instruction signal to the motor reaches a predetermined value, limiting the current-instruction signal and turning a limiting signal from off to on; a model-position-generator having a model of an equivalent position-control system including characteristics of the motor control device, the motor, and the control target object, for calculating rotational position of the motor as a model-position signal by inputting the position-instruction signal into the model; a correctional acceleration-generator for generating, when the limiting signal turns on, a first correctional acceleration signal based on a correctional position deviation equal to the difference between the model-position signal and the position-detection signal; and a position-instruction-generator for generating the position-instruction signal based on an acceleration deviation equal to the difference between the original acceleration-instruction signal and the first correctional acceleration signal.