Motor control apparatus for controlling motor to drive output shaft with positioning accuracy unaffected by backlash in rotation transmission system
First Claim
1. A motor control apparatus comprising motor rotation angle detection means for deriving a detected motor rotation angle as a rotation angle of a shaft of a motor, and output shaft rotation angle detection means for deriving a detected rotation angle of an output shaft which drives a control object, said motor shaft being coupled through a rotation transmission system to said output shaft, said motor control apparatus controlling said motor for rotating said motor shaft from said detected motor rotation angle into coincidence with a target value of motor rotation angle, wherein said motor control apparatus comprises:
- target motor rotation angle compensation means for applying compensation to said target value of motor rotation angle based upon at least one detection value obtained by said output shaft rotation angle detection means.
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Accused Products
Abstract
A motor control apparatus controls a motor that drives an output shaft through a rotation transmission system. The difference between a newly established output shaft target rotation angle and a detected output shaft rotation angle is obtained, a target rotation angle for the motor is derived based on that difference, and the motor is driven accordingly. When it is determined, based on the detected output shaft rotation angle, that motor rotation has at least proceeded to a point whereby backlash in the transmission system is nullified, the target motor rotation angle is updated based on the current value of the aforementioned difference.
49 Citations
17 Claims
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1. A motor control apparatus comprising motor rotation angle detection means for deriving a detected motor rotation angle as a rotation angle of a shaft of a motor, and output shaft rotation angle detection means for deriving a detected rotation angle of an output shaft which drives a control object, said motor shaft being coupled through a rotation transmission system to said output shaft, said motor control apparatus controlling said motor for rotating said motor shaft from said detected motor rotation angle into coincidence with a target value of motor rotation angle,
wherein said motor control apparatus comprises: target motor rotation angle compensation means for applying compensation to said target value of motor rotation angle based upon at least one detection value obtained by said output shaft rotation angle detection means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A motor control apparatus comprising motor rotation angle detection means for deriving a detected motor rotation angle as an angular position of a shaft of a motor, said motor shaft being coupled through a rotation transmission system to an output shaft which drives a control object, said motor control apparatus controlling said motor for rotating said motor shaft from said detected motor rotation angle into coincidence with a target value of motor rotation angle, and comprising position detection means for detecting a position of said control object;
wherein said motor control apparatus comprises target motor rotation angle compensation means for compensating said target angular position of said motor shaft based upon a detection result obtained by said position detection means, with said compensation being selectively applied, during said rotation of said motor shaft, at one or more time points that are each determined in accordance with a currently detected position of said control object.
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13. A method of controlling a motor having a motor shaft that is coupled through a rotation transmission system to an output shaft, the method comprising:
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deriving a detected motor rotation angle and a detected output shaft rotation angle, and calculating an initial target motor rotation angle based on a difference between an initial value of said detected output shaft rotation angle and a target output shaft rotation angle;
commencing driving said motor to rotate said motor shaft towards said initial target motor rotation angle, based on at least one subsequently obtained value of said detected output shaft rotation angle, detecting a specific time point subsequent to said motor shaft rotation commencement at which to perform compensation of said initial target motor rotation angle, applying said compensation, based on a difference between a value of said detected output shaft rotation angle derived at said specific time point and said target output shaft rotation angle, to obtain a final target motor rotation angle, and driving said motor to attain said final target motor rotation angle. - View Dependent Claims (14, 15, 16, 17)
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Specification