Patent ID: 7176649

Claim:
A DC motor control apparatus comprising: a DC motor; moving means for receiving drive torque from the DC motor to move a driven body, wherein said moving means includes a torque transmission member which transmits torque from said DC motor, and a predetermined force is generated from the torque transmission member at stop timing of the driven body; encoder means for periodically outputting a pulse signal according to movement of the driven body; information acquiring means for acquiring velocity information and position information of the driven body based on a time interval of the pulse signal; controlling means for controlling said moving means based on the velocity information and the position information acquired by said information acquiring means; and calculating means for calculating the magnitude of the predetermined force based on at least one of a phase for mechanical periodic disturbance of said moving means, velocity information at a time before a predetermined time period from timing when a stopping process should be performed, a velocity parameter of said controlling means, and a change in load owing to moving conditions, wherein said controlling means performs the stopping process for the driven body based on the magnitude of the predetermined force calculated by said calculating means when the stopping process should be performed.