ELECTRIC APPARATUS AND CONTROL METHOD THEREFOR
First Claim
1. An electric apparatus for controlling movement of a target object, comprising:
- a detection unit configured to detect the movement of the target object;
a first estimation unit configured to estimate, based on a detection signal output from the detection unit, a control quantity for performing first feedback control for the target object at a first period;
a second estimation unit configured to estimate, based on the detection signal output from the detection unit, a first state quantity of the target object and a second state quantity obtained by time differentiation of the first state quantity in order to perform second feedback control for the target object at a second period shorter than the first period;
a first generation unit configured to generate a first operation quantity for the first feedback control based on the control quantity estimated by the first estimation unit;
a second generation unit configured to generate a second operation quantity for the second feedback control based on the first state quantity and the second state quantity estimated by the second estimation unit; and
a synthesizing unit configured to generate an operation quantity on the target object,wherein if one of a predetermined target value and the first state quantity of the target object estimated by the second estimation unit is larger than a first threshold value, the synthesizing unit generates the operation quantity on the target object based on the first operation quantity and the second operation quantity, and if one of the target value and the first state quantity of the target object is smaller than the first threshold value, the synthesizing unit generates the operation quantity on the target object using only the first operation quantity out of the first operation quantity and the second operation quantity.
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Accused Products
Abstract
According to an embodiment of the present invention, an electric apparatus for controlling movement of a target object by performing first and second feedback controls, based on a detection signal obtained from detecting the movement of the target object, generates an operation quantity on the target object based on first and second operation quantities for the second feedback control if one of a predetermined target value and an estimated first state quantity of the target object is larger than a first threshold value, and generates the operation quantity on the target object using only the first operation quantity out of the first and the second operation quantities if one of the target value and the first state quantity of the target object is smaller than the first threshold value.
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Citations
16 Claims
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1. An electric apparatus for controlling movement of a target object, comprising:
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a detection unit configured to detect the movement of the target object; a first estimation unit configured to estimate, based on a detection signal output from the detection unit, a control quantity for performing first feedback control for the target object at a first period; a second estimation unit configured to estimate, based on the detection signal output from the detection unit, a first state quantity of the target object and a second state quantity obtained by time differentiation of the first state quantity in order to perform second feedback control for the target object at a second period shorter than the first period; a first generation unit configured to generate a first operation quantity for the first feedback control based on the control quantity estimated by the first estimation unit; a second generation unit configured to generate a second operation quantity for the second feedback control based on the first state quantity and the second state quantity estimated by the second estimation unit; and a synthesizing unit configured to generate an operation quantity on the target object, wherein if one of a predetermined target value and the first state quantity of the target object estimated by the second estimation unit is larger than a first threshold value, the synthesizing unit generates the operation quantity on the target object based on the first operation quantity and the second operation quantity, and if one of the target value and the first state quantity of the target object is smaller than the first threshold value, the synthesizing unit generates the operation quantity on the target object using only the first operation quantity out of the first operation quantity and the second operation quantity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A control method for an electric apparatus for controlling movement of a target object, comprising:
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detecting the movement of the target object; estimating, based on a detection signal acquired in the detecting, a control quantity for performing first feedback control for the target object at a first period; estimating, based on the detection signal acquired in the detecting, a first state quantity of the target object and a second state quantity obtained by time differentiation of the first state quantity in order to perform second feedback control for the target object at a second period shorter than the first period; generating a first operation quantity for the first feedback control based on the estimated control quantity; generating a second operation quantity for the second feedback control based on the estimated first state quantity and the estimated second state quantity; and generating an operation quantity on the target object, wherein in the generating the operation quantity, if one of a predetermined target value and the estimated first state quantity of the target object is larger than a first threshold value, the operation quantity on the target object is generated based on the first operation quantity and the second operation quantity, and if one of the target value and the first state quantity of the target object is smaller than the first threshold value, the operation quantity on the target object is generated using only the first operation quantity out of the first operation quantity and the second operation quantity. - View Dependent Claims (13, 14, 15, 16)
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Specification