Electric apparatus and control method therefor

An electric apparatus for controlling movement of a target object, comprising:

• a central processing unit (CPU);
• an application-specific integrated circuit (ASIC);
• a motor configured to move the target object;
• a sensor configured to detect the movement of the target object;
• a first estimation unit configured to estimate, based on a detection signal output from the sensor, a control quantity for performing first feedback control in a first period;
• a second estimation unit configured to estimate, based on the detection signal output from the sensor, a velocity of the target object and an acceleration obtained by time differentiation of the velocity in a second period shorter than the first period;
• a first generation unit implemented by the CPU and configured to generate, based on the control quantity estimated by the first estimation unit, a first operation quantity for driving the motor in order to perform the first feedback control for the target object in the first period;
• a second generation unit implemented by the ASIC and configured to generate, based on the velocity and the acceleration estimated by the second estimation unit, a second operation quantity for driving the motor in order to perform second feedback control for the target object in the second period;
• a synthesizing unit implemented by the ASIC and configured to synthesize the first operation quantity and the second operation quantity to generate a third operation quantity for driving the motor;
• and
• a comparison unit implemented by the ASIC and configured to compare the third operation quantity with a maximum value of values that can be taken as the first operation quantity,
• wherein, within a constant movement region of a velocity profile of the target object, when the maximum value is not less than the third operation quantity, the motor is controlled using the third operation quantity from the synthesizing unit, and when the maximum value is less than the third operation quantity, the motor is controlled using the first operation quantity from the first generation unit.