Patent ID: 6686716
Filing Date: 2004-02-03
Classification: G05B

Abstract:
An apparatus for controlling a motor, comprising:an open loop command generator configured to generate an open loop command for moving the motor; a closed loop controller configured to generate a closed loop command for moving the motor to correct an error in the movement resulting from the open loop command; a learning control unit configured to adjust the open loop command based on the error in the movement of the motor, the learning control unit including a storage unit having recorded therein an open loop command characteristic value from an open loop command used to move the motor in a preceding cycle, a calculation unit configured to calculate a parameter for adjusting the open loop command based on the sensed error, and an open loop command characteristic generator, coupled to the storage unit and the calculation unit, generating an open loop characteristic value by changing the open loop command characteristic from the storage unit based on the calculated parameter; a switching unit having open and closed loop positions, and configured for outputting the open loop command for controlling the motor when switched to the open loop position and outputting the closed loop command for controlling the motor when switched to the closed loop position; and a timing generator connected to the switching unit and outputting an open loop timing signal for controlling the switching unit to switch to the open loop position and outputting a closed loop timing signal for controlling the switching unit to switch to the closed loop position.