Patent ID: 8598816

Claim:
A motor control apparatus that accelerates a motor to a target speed, the motor control apparatus comprising: a target acceleration setting unit, which sets a target acceleration at each time point from start of an acceleration control; a control unit, which adjusts a control input for the motor and controls the motor, based on the target acceleration set by the target acceleration setting unit; an acceleration upper limit estimation unit, which estimates an upper limit of acceleration achievable by the motor; a mode switching unit; a detection unit, which detects that a speed of the motor reaches a predetermined reference speed less than the target speed; and a trajectory setting unit, wherein: when the acceleration control starts, the mode switching unit controls the target acceleration setting unit to execute a first setting processing, in which the target acceleration at each time point is set corresponding to a first target acceleration trajectory; when it is determined that the target acceleration corresponding to the first target acceleration trajectory exceeds the acceleration upper limit at a time point, after the determined time point, the mode switching unit controls the target acceleration setting unit to execute a second setting processing, in which a target acceleration is set corresponding to the acceleration upper limit, instead of the first setting processing; when the detection unit detects that the speed of the motor reaches the reference speed while the target acceleration setting unit executes the second setting processing, the trajectory setting unit sets a second target acceleration trajectory from that detected time point, based on a moving state of the motor at that time point, and the mode switching unit controls the target acceleration setting unit to execute a third setting processing, in which the target acceleration is set corresponding to the second target acceleration trajectory, instead of the second setting processing.