Drive control apparatus

A driving control apparatus comprising:

• generation means for generating a target state quantity for a controlled object
• detection means for detecting a current state quantity of the controlled object;
• control means for controlling a driving operation of the controlled object on the basis of the target state quantity generated by said generation means and the state quantity detected by said detection means;
• and
• adjustment means for acquiring adjustment information on the basis of the state quantity of the controlled object and adjusting phase compensation of driving control by said control means by changing a corner frequency of the phase compensation on the basis of the acquired adjustment information.

A driving control apparatus for a linear motor which selectively switches coils to be energized in correspondence with a position of a movable member;

• comprising:
• holding means for holding a look-up table registering correction information corresponding to each position of the movable member in the linear motor;
• correction means for correcting a control deviation obtained by feeding back a state quantity of the movable member to a control target state quantity on the basis of the correction information obtained from the look-up table;
• control means for controlling a driving operation of the linear motor on the basis of the control deviation corrected by said correction means;
• acquisition means for driving the linear motor and acquiring positions of the movable member and the control deviations as time sequence data while correction by said correction means is inhibited;
• and
• generation means for generating the look-up table which registers control deviations corresponding to the positions of the movable member on the basis of a result obtained by removing high-frequency components from the time sequence data.

A driving control method for an apparatus which comprises storage means for storing adjustment information for adjusting driving control of a controlled object in accordance with a state quantity of the controlled object, in units of operation states of the controlled object, comprising:

• the generation step of generating a target state quantity for a controlled object;
• the detection step of detecting a current state quantity of the controlled object;
• the control step of controlling a driving operation of the controlled object on the basis of the target state quantity generated in the generation step and the state quantity detected in the detection step;
• and
• the adjustment step of acquiring adjustment information from the storage means on the basis of the operation state and the state quantity of the controlled object and adjusting phase compensation in the control step by changing a corner frequency of the phase compensation on the basis of the acquired adjustment information.

A driving control method comprising:

• the generation step of generating a target state quantity for a controlled object;
• the detection step of detecting a current state quantity of the controlled object;
• the control step of controlling a driving operation of the controlled object on the basis of the target state quantity generated in the generation step and the state quantity detected in the detection step;
• and
• the adjustment step of acquiring adjustment information on the basis of the state quantity of the controlled object and adjusting phase compensation of driving control in the control step by changing a corner frequency of the phase compensation on the basis of the acquired adjustment information.

A driving control method for a driving control apparatus for a linear motor which comprises holding means for holding a look-up table registering correction information corresponding to each position of a movable member of the linear motor and selectively switches coils to be energized in correspondence with a position of the movable member, comprising:

• the first acquisition step of acquiring corresponding correction information from the holding means on the basis of a position of the movable member;
• the correction step of correcting a control deviation obtained by feeding back a state quantity of the movable member to a control target state quantity on the basis of the correction information obtained from the look-up table;
• the control step of controlling a driving operation of the linear motor on the basis of the control deviation corrected in the correction step;
• the second acquisition step of driving the linear motor and acquiring positions of the movable member and the control deviations as time sequence data while correction in said correction step is inhibited;
• and
• the generation step of generating the look-up table which registers control deviations corresponding to the positions of the movable member on the basis of a result obtained by removing high-frequency components from the time sequence data.