Control system for positioning an object using switching from a speed control mode to a position control mode with adjustable brain

A control system for positioning a movable member, said system comprising:

• servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward a target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a positioning accuracy is controlled, thereby to place the movable member at the target stop position;
• means for determining a positional difference between the target stop position and a current position of the movable member;
• and
• means for setting, in accordance with elapsed time, a gain of said servo control system after changeover to said second control mode from said first control mode;
• and
• wherein said setting means includes a multiplier for multiplying a positional difference by a gain according to the elapsed time to provide a modified positional difference.

A control system for positioning a movable member, said system comprising:

• servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position;
• means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member;
• and
• means for setting a gain of said servo control system in accordance with the positional difference

A control system for positioning a movable member, said system comprising:

• servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position;
• means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member;
• and
• means for setting a gain of said servo control system after changeover to said second control mode from said first control mode, in accordance with the target stop position.