Patent ID: 8936343
Filing Date: 2015-01-20
Classification: B41J,G05B

Abstract:
1. A control device configured to control a drive system including a motor and a driven object which is driven by the motor, as a controlled object, comprising: a controller configured to compute an control input which is to be input to the controlled object, to measure a control amount of the controlled object, to input a measurement signal of the controlled amount to an inverse model of a model indicating input-output characteristics of the controlled object, and to generate a differential signal between an output of the inverse model and the control input which is input to the controlled object; a filter configured to filter the generated differential signal, and having frequency characteristics of damping a vibrational component which is developed due to mechanical characteristics of the controlled object, from the differential signal, wherein the controller is configured to make a judgment of whether or not a defect has occurred in the controlled object, based on an output of the filter; and an updating mechanism configured to update frequency characteristics of the filter.