Patent ID: 7852517

Claim:
A control apparatus for performing control to move a controlled object to a target position, comprising: an encoder for detecting a position of the controlled object and a speed of the controlled object; a DC motor for driving the controlled object in accordance with a speed control amount; and control means having first control means for performing a first feedback control of the speed control amount in an acceleration state and in a constant-speed state on the basis of a speed deviation between a command speed and an actual speed detected by using the encoder, and having second control means for performing a second feedback control of the speed control amount in a deceleration state on the basis of a position deviation between a command position and an actual position detected by the encoder, and on the basis of the target position and a target range, which is set according to the target position and includes positions ahead and behind the target position and has a predetermined length; control start means for setting the target position and the target range corresponding to the target position and for starting a feedback control of the control means; monitoring means for monitoring whether or not the controlled object reaches the target range; determination means for determining whether or not the controlled object is within the target range for a predetermined period, after the controlled object reaches the target range; control end means for ending the feedback control of the control means when the controlled object is within the target range for the predetermined period; wherein the second control means performs a first stop operation for stopping the controlled object when it is detected by the encoder that the controlled object is at or beyond the target position, by controlling to set the speed control amount to 0 if the controlled object is detected by the encoder at the target position, and by controlling to set the speed control amount so that the controlled object is immediately reverse-driven if the controlled object is detected by the encoder at a position beyond the target position, and performs a second stop operation for stopping the controlled object by immediately setting the speed control amount to 0 if the controlled object is detected by the encoder at a position beyond the target range.