Motor control device controlling intended speed ratio and positional relationship between driven objects

A motor control device for controlling operations of a plurality of motors provided for a plurality of driven objects for driving the driven objects, respectively, comprising:

• means for outputting a target speed signal corresponding to a target travel speed of a driven object driven by one of said plurality of motors;
• means for outputting a target position signal corresponding to a target travel position of the driven object driven by said one motor;
• means for performing feedback control of the operation of said one motor to attain the target travel speed and the target travel position of the driven object driven by said one motor based on the target speed signal issued from said target speed signal output means and the target position signal issued from said target position signal output means;
• means for outputting a target speed signal corresponding to an intended target travel speed of an other driven object driven by a motor other than said one motor based on a current travel speed of the driven object driven by said one motor with respect to said above current travel speed;
• means for outputting a target position signal corresponding to an intended target travel position of the other driven object driven by the motor other than said one motor based on a current position of the driven object driven by said one motor with respect to said above current position;
• and
• means for performing feedback control of the operation of said other motor for said other driven object to attain the target travel speed and the target travel position of said other driven object based on the target speed signal issued from said target speed signal output means corresponding to said other driven object and said target position signal issued from said target position signal output means corresponding to said other driven object,
• switching means for successively switching the target position signal outputted from the target position signal output means for the driven object driven by said one motor between position signals for the first position, the second position and the home position, and
• switching means for switching the target speed signal outputted from the target speed signal output means for the driven object driven by said one motor between a first speed-change target speed signal for advancing and accelerating the driven object from the home position to the first position, a constant-speed target speed signal for constant speed advance from the first position to the second position, and a second speed-change target speed signal for return from the second position to the home position, wherein
• each of the motors is controlled to drive the corresponding driven object selectively at changing and constant speed selected by this switching means.

A motor control device for controlling operations of first and second motors provided with encoders and operable to drive first and second driven objects, respectively, comprising:

• first speed detecting means for detecting a travel speed of said first driven object based on an encoder output signal of said first motor, and issuing a current travel speed signal;
• first position detecting means for detecting a current position of said first driven object based on an encoder output signal of said first motor, and issuing a current travel position signal;
• first target speed signal output means for outputting a target speed signal corresponding to a target travel speed of said first driven object;
• first target position signal output means for outputting a target position signal corresponding to a target travel position of said first driven object;
• first speed difference detecting means for making a comparison between the target speed signal issued from said first target speed signal output means and the travel speed signal issued from said first speed detecting means, and outputting a speed difference signal corresponding to the difference detected by the comparison;
• first position difference detecting means for making a comparison between the target position signal issued from said first target position signal output means and the current position signal issued from said first position detecting means, and outputting a position difference signal corresponding to the position difference detected by the comparison;
• first motor drive means for driving said first motor so as to correct said speed difference and said position difference based on the speed difference signal sent from said first speed difference detecting means and the position difference signal sent from said first position difference detecting means;
• second speed detecting means for detecting a travel speed of said second driven object based on an encoder output signal of said second motor, and outputting a current travel speed signal;
• second position detecting means for detecting a current position of said second driven object based on an encoder output signal of said second motor, and outputting a current position signal;
• second target speed signal output means for outputting a target speed signal corresponding to a target travel speed of said second driven object corresponding to a predetermined drive speed ratio between said first and second driven objects based on the encoder output signal of said first motor;
• second target position signal output means for outputting a target position signal corresponding to a target travel position of said second driven object corresponding to a predetermined travel distance ratio between said first and second driven objects based on the current position signal of said first driven object sent from said first position detecting means;
• second speed difference detecting means for making a comparison between the target speed signal issued from said second target speed signal output means and the travel speed signal issued from said second speed detecting means, and outputting a speed difference signal corresponding to the speed difference detected by the comparison;
• second position difference detecting means for making a comparison between the target position signal issued from said second target position signal output means and said current position signal issued from said second position detecting means, and outputting a position difference signal corresponding to the position difference detected by the comparison;
• and
• second motor drive means for driving said second motor so as to correct the speed difference and the position difference based on the speed difference signal sent from said second speed difference detecting means and the position difference signal sent from said second position difference detecting means, wherein
• said first and second driven objects are driven to advance from a home position to a first position at an increasing speed, advance from the first position to a second position at a constant speed, and subsequently return to the home position;
• said first target speed signal output means is operable to output a constant-speed target speed signal corresponding to a constant target travel speed of said first driven object when the first driven object moved from the home position reaches the first position;
• said first target position signal output means is operable to output the target position signal corresponding to said second position when said first driven object moved from said home position reaches said first position;
• and
• said motor control device further includes means for controlling operations of said first and second motors such that said first and second driven objects advance from their home positions to the first positions at an increasing speed, and return from the second positions to the home positions.

A motor control device for controlling operations of first and second motors provided with encoders and operable to drive first and second driven objects, respectively, comprising:

• first speed detecting means for detecting a travel speed of said first driven object based on an encoder output signal of said first motor, and issuing a current travel speed signal;
• first position detecting means for detecting a current position of said first driven object based on an encoder output signal of said first motor, and issuing a current travel position signal;
• first target speed signal output means for outputting a target speed signal corresponding to a target travel speed of said first driven object;
• first target position signal output means for outputting a target position signal corresponding to a target travel position of said first driven object;
• first speed difference detecting means for making a comparison between the target speed signal issued from said first target speed signal output means and the travel speed signal issued from said first speed detecting means, and outputting a speed difference signal corresponding to the difference detected by the comparison;
• first position difference detecting means for making a comparison between the target position signal issued from said first target position signal output means and the current position signal issued from said first position detecting means, and outputting a position difference signal corresponding to the position difference detected by the comparison;
• first motor drive means for driving said first motor so as to correct said speed difference and said position difference based on the speed difference signal sent from said first speed difference detecting means and the position difference signal sent from said first position difference detecting means;
• second speed detecting means for detecting a travel speed of said second driven object based on an encoder output signal of said second motor, and outputting a current travel speed signal;
• second position detecting means for detecting a current position of said second driven object based on an encoder output signal of said second motor, and outputting a current position signal;
• second target speed signal output means for outputting a target speed signal corresponding to a target travel speed of said second driven object corresponding to a predetermined drive speed ratio between said first and second driven objects based on the encoder output signal of said first motor;
• second target position signal output means for outputting a target position signal corresponding to a target travel position of said second driven object corresponding to a predetermined travel distance ratio between said first and second driven objects based on the current position signal of said first driven object sent from said first position detecting means;
• second speed difference detecting means for making a comparison between the target speed signal issued from said second target speed signal output means and the travel speed signal issued from said second speed detecting means, and outputting a speed difference signal corresponding to the speed difference detected by the comparison;
• second position difference detecting means for making a comparison between the target position signal issued from said second target position signal output means and said current position signal issued from said second position detecting means, and outputting a position difference signal corresponding to the position difference detected by the comparison;
• and
• second motor drive means for driving said second motor so as to correct the speed difference and the position difference based on the speed difference signal sent from said second speed difference detecting means and the position difference signal sent from said second position difference detecting means, wherein
• said first and second driven objects are driven to advance from a home position to a first position at an increasing speed, advance from the first position to a second position at a constant speed, and subsequently return to the home position;
• said motor control device further includes means for successively switching the target position signal issued from the target position signal output means provided for the first driven object driven by said first motor between position signals indicating the first position, the second position and the home position;
• said motor control device further includes means for switching the target speed signal issued from the target speed signal output means provided for the first driven object driven by said first motor between a first speed-change target speed signal for advance at an increasing speed from said home position to said first position, a constant-speed target speed signal for advance at a constant speed from said first position to said second position, and a second speed-change target speed signal for return from said second position to the home position;
• and
• each of said motors is controlled to drive the corresponding driven object selectively at variable and constant speeds in accordance with switching of the target speed signal.

A motor control device for controlling operations of a plurality of motors provided for a plurality of driven objects for driving the driven objects, respectively, comprising:

• means for outputting a target speed signal corresponding to a target travel speed of a driven object driven by one of said plurality of motors;
• means for performing feedback control of the operation of said one motor to attain the target travel speed of the driven object driven by said one motor based on the target speed signal issued from said target speed signal output;
• means for outputting a target position signal corresponding to an intended target travel position of the driven object driven by an other motor other than said one motor based on a current position of the driven object driven by said one motor with respect to said above current position;
• and
• means for performing feedback control of the operation of said other motor for said other driven object to attain the target travel position of said other driven object based on the target position signal sent from said target position signal output means corresponding to said other driven object, wherein
• each of said driven objects is to be driven such that it advances from a home position to a first position at an increasing speed, advances from the first position to a second position at a constant speed, and then returns to the home position,
• said motor control device further comprises switching means for switching the target speed signal outputted from the target speed signal output means for the driven object driven by said one motor between a first speed-change target speed signal for advancing and accelerating the driven object from the home position to the first position, a constant-speed target speed signal for constant speed advance from the first position to the second position, and a second speed-change target speed signal for return from the second position to the home position, and
• each of the motors is controlled to drive the corresponding driven object selectively at changing and constant speed selected by this switching means.