Motor driving control apparatus with movement distance estimating function

A motor driving control apparatus for driving a driven member by a motor and stopping the driven member at a target position, comprising:

• means for generating pulses in accordance with a movement of said driven member;
• speed detecting means for detecting movement speed information of said driven member from the pulses generated by said pulse generating means;
• memory means for storing the movement speed information of said driven member which is detected by said speed detecting means;
• position detecting means for counting the pulses generated by said pulse generating means and detecting current position information of said driven member;
• arithmetic operation means for receiving an output from said speed detecting means, an output from said memory means, and an output from said position detecting means, and for estimating and calculating stop position information of said driven member when driving of said motor is stopped;
• target position output means for outputting stop target position information of said driven member;
• comparing mean for comparing estimated stop position information of said arithmetic operation means with the stop target position information from said target position output means;
• and
• control means for controlling power supply to said motor in accordance with a result of said comparing means to supply power to said motor when the estimated stop position information represents a position before that represented by the target position information by not less than a first predetermined value, to stop power supply to said motor when estimated stop position information is between the first predetermined value and a second predetermined value, the second predetermined value being not more than the first predetermined value and closer to a value corresponding to a target position than the first predetermined value, and to brake said motor when the estimated stop position information represents a position before that represented by the target position information and represents a value smaller than the second predetermined value.

A motor driving control apparatus for driving a driven member by a motor and stopping said driven member at a target position, comprising:

• means for generating pulses in accordance with a movement of said driven member;
• speed detecting means for detecting movement speed information of said driven member from the pulses generated by said generating means;
• memory means for storing the movement speed information of said driven member which is detected by said speed detecting means;
• position detecting means for counting the pulses generated by said pulse generating means and detecting current position information of said driven member;
• arithmetic operation means for receiving an output from said speed detecting means, an output from said memory means, and an output from said position detecting means, and for estimating and calculating stop position information of said driven member when driving of said motor is stopped;
• target position output means for outputting stop target position information of said driven member;
• comparing means for comparing estimated stop position information of said arithmetic operation means with the stop target position information from said target position output means;
• and
• control means for controlling driving of said motor in accordance with a result of said comparing means.

A motor driving control apparatus for stopping a driven member, which is driven by a motor, at a target position, comprising:

• speed detecting means for detecting a value corresponding to a movement speed of said driven member and outputting the detected value as speed data;
• memory means for storing the speed data detected by said speed detecting means;
• movement distance arithmetic operation means for receiving current speed data detected by said speed detecting means and speed data stored in said memory means and immediately estimating and calculating a movement distance until stopping by using a fuzzy inference when a stop operation of said motor is started;
• moved member distance detecting means for detecting a moved member distance to a current position of said driven member;
• estimated stop position arithmetic operation means for calculating an estimated stop position by using an estimated movement distance obtained by said movement distance arithmetic operation means and a current moved member distance obtained by said moved member distance detecting means;
• and
• motor control means for comparing a target position and the estimated stop position of said driven member and controlling said motor in accordance with a comparison result.

A motor driving control apparatus for stopping a driven member, driven by a motor, at a target position, comprising:

• encoder means for generating pulses in response to a movement of said driven member;
• speed detecting means for detecting a speed of said driven member by using the pulses from said encoder means and outputting speed data;
• memory means for storing the speed data detected by said speed detecting means;
• movement distance arithmetic operation means for estimating and calculating a movement distance until stopping by using the speed data stored in said memory means and current speed data detected by said speed detecting means when a drive stop operation is immediately started;
• and
• control means for determining a position of said driven member relative to the stop target position when said motor is stopped after movement by the estimated movement distance obtained by said movement distance arithmetic operation means, and controlling said motor on the basis of the determination result.

A motor driving control apparatus for driving a driven member by a motor and stopping said driven member at a target position, comprising:

• means for detecting movement speed data of said driven member;
• means for storing movement speed data from said detecting means;
• means for estimating a position where said driven member stops when said motor is controlled to stop, on the basis of the last movement speed data stored in said memory means and current movement speed data as an output from said detecting means;
• and
• driving control means for performing driving control of said motor on the basis of a result of said estimating means and the target position.

A motor driving control means for driving a driven member by a motor and stopping said driven member at a target position, comprising:

• means for detecting movement speed data of said driven member;
• means for storing the movement speed data from said detecting means;
• means for receiving last movement speed data stored in said memory means and current movement speed data as an output from said detecting means and executing a fuzzy inference based on a predetermined plurality of rules, thereby estimating a position where said driven member stops when said motor is controlled to stop;
• and
• driving control means for repeatedly performing driving control of said motor based on a result of said estimating means and the target position.

A driving control apparatus of a driven member driven by a motor, comprising:

• speed detecting means for detecting driving speed data of said motor;
• stop position estimative arithmetic operation means for estimating and calculating stop position information when said motor is controlled to stop, on the basis of current and past driving speed data detected by said speed detecting means;
• and
• control means for controlling said motor by using at least stop position information estimated by said stop position estimative arithmetic operation means.

A driving control apparatus for driving a driven member by a motor and stopping said driven member at a stop position, comprising:

• means for detecting movement speed data of said driven member;
• means for storing the movement speed data from said detecting means;
• means for discriminating a characteristic of said motor;
• means for estimating a position where said driven member stops when said motor is controlled to stop, on the basis of last movement speed data stored in said memory means and current movement speed data as an output from said detecting means;
• and
• driving control means for performing driving control of said motor based on an estimation result of said estimating means, the target position, and the motor characteristic obtained by said discriminating means.

A control apparatus for stopping a driven member, driven by a motor, at a target position, comprising:

• speed detecting means for detecting a value corresponding to a movement speed of said driven member and outputting the detected value as speed data;
• movement distance arithmetic operation means for estimating and calculating a movement distance of said driven member until stopping when a driving stop operation of said motor is immediately started, by using the speed data detected by said speed detecting means and in accordance with a fuzzy inference;
• moved member distance detecting means for detecting present moved member distance of said driven member;
• estimated stop position arithmetic operation means for calculating an estimated stop position by using the moved member distance obtained by said moved member distance detecting means and the movement distance obtained by said movement distance arithmetic operation means;
• and
• motor control means for comparing a target position of said driven member with the estimated stop position obtained by said estimated stop position arithmetic operation means and controlling said motor in accordance with a comparison result.

A control apparatus for stopping a driven member, driven by a motor, at a target position, comprising

• speed detecting means for detecting a driving speed of said motor;
• stop position estimative arithmetic operation means for estimating and calculating stop position information of a case when said motor is caused to immediately stop by using a fuzzy inference and based on the speed data detected by said speed detecting means;
• and
• control means for controlling said motor by using at least the estimated stop position information obtained by said stop position estimative arithmetic operation means.

A method of driving a driving apparatus comprising pulse generating means for generating pulses in response to a movement of a driven member driven by a motor, position detecting means for detecting a position of said driven member by counting the pulses, and target position outputting means for outputting a driving target position of said driven member, comprising the steps of:

• detecting a movement speed of said driven member on the basis of the pulses;
• storing the detected movement speed;
• after storing the movement speed, detecting again a movement speed of said driven member on the basis of the pulses;
• performing an estimative arithmetic operation of estimating the number of pulses that are generated by said pulse generated means until stopping when braking is performed immediately, by using the newly detected movement speed and the stored movement speed;
• obtaining an estimated stop position by using an output from said position detecting means and a result of the estimative arithmetic operation;
• comparing the estimated stop position with an output from said target position detecting means;
• and
• controlling said motor in accordance with a comparison result.