Patent ID: 6823132
Filing Date: 2004-11-23
Classification: G05B

Abstract:
A motor control method in a device which drives a mechanism using a motor as a power source, comprising:a pre-driving step of providing a predetermined speed command to the motor and driving the mechanism; a parameter calculation step of, in the pre-driving step, monitoring a driving condition of the mechanism and calculating a parameter corresponding to a current value to be supplied to the motor; a profile generation step of generating a position profile representing a relationship between time and a position and a speed profile representing a relationship between time and a speed; and a control step of controlling the driving of the mechanism by dividing the driving into at least three regions including an acceleration region, a deceleration region and a positioning region, the mechanism being driven in accordance with the position profile in the acceleration region and the deceleration region, and the mechanism being driven in accordance with the speed profile in the positioning region, wherein the parameter is used as an initial value for feedback control in the positioning region.