Patent ID: 7463000
Filing Date: 2008-12-09
Classification: B41J

Abstract:
1. A method of controlling an electric motor as a drive source of an operating apparatus by an adaptive control method, the operating apparatus operating, based on a driving force produced by the electric motor, under an arbitrary one of a plurality of operating conditions, and exhibiting a plurality of different dynamic characteristics corresponding to the plurality of operating conditions, respectively, the method comprising: preparing, for a control portion controlling the electric motor, a plurality of control-parameter groups which correspond to the plurality of operating conditions, respectively, and each group of which includes at least one control parameter comprising at least one adjustable parameter, determining, based on one of the control-parameter groups that corresponds to the arbitrary one of the operating conditions, and a plurality of target control outputs of the operating apparatus that correspond to a plurality of times, respectively, a plurality of control inputs to be inputted to the electric motor at the plurality of times, respectively, and while the operating apparatus operates under one of the operating conditions that corresponds to each one of the control-parameter groups, adjusting said at least one adjustable parameter of said each control-parameter group in a direction in which an actual control-output trajectory, including a plurality of actual control outputs of the operating apparatus, approaches a target control-output trajectory including the plurality of target control outputs of the operating apparatus, wherein the plurality of actual control outputs of the operating apparatus correspond to the plurality of control inputs, respectively.