Motor control method and motor control apparatus

A motor control method for supplying a DC motor for a predetermined time period upon starting said DC motor with a d.c. current as an initial value current, which is smaller than a threshold value current required for a first gear coupled to a rotor shaft of said DC motor to drive and rotate a second gear in engagement with said first gear;

• and
• wherein said predetermined time period has a length of time necessary and sufficient for bringing a tooth of said first gear into contact with a tooth of said second gear in a direction in which said first gear is going to drive and rotate said second gear, and said length of time is determined based on the value of said initial value current.

A recording medium of a computer program having recorded a computer program for executing on a computer system a motor control method for supplying a DC motor for a predetermined time period upon starting said DC motor with a d.c. current as an initial value current, which is smaller than a d.c. current of a magnitude causing a tooth of a first gear coupled to a rotor shaft of said DC motor to generate a hitting noise when said tooth gets into contact with a tooth of a second gear in engagement with said first gear;

• and
• wherein said predetermined time period has a length of time necessary and sufficient for bringing a tooth of said first gear into contact with a tooth of said second gear in a direction in which said first gear is going to drive and rotate said second gear, and said length of time is determined based on the value of said initial value current.

A recording medium of a computer program having recorded a computer program for executing on a computer system a motor control method for supplying a DC motor for a predetermined time period upon starting said DC motor with a d.c. current as an initial value current, which is smaller than a threshold value current required for a first gear coupled to a rotor shaft of said DC motor to drive and rotate a second gear in engagement with said first gear;

• and
• wherein said predetermined time period has a length of time necessary and sufficient for bringing a tooth of said first gear into contact with a tooth of said second gear in a direction in which said first gear is going to drive and rotate said second gear, and said length of time is determined based on the value of said initial value current.

A motor control apparatus comprising an initial value current supply instruction unit that generates and outputs an initial value current supply instruction signal that instructs to supply a DC motor for a predetermined time period upon starting said DC motor with a d.c. current as an initial value current, which is smaller than a d.c. current to a magnitude causing a tooth of a first gear coupled to a rotor shaft of said DC motor to generate a hitting noise when said tooth of said first gear gets into contact with a tooth of a second gear in engagement with said first gear;

• and
• wherein said predetermined time period has a length of time necessary and sufficient for bringing a tooth of said first gear into contact with a tooth of said second gear in a direction in which said first gear is going to drive and rotate said second gear, and said length of time is determined based on the value of said initial value current.

A motor control apparatus comprising an initial value current supply instruction unit that generates and outputs an initial value current supply instruction signal that instructs to supply a DC motor for a predetermined time period upon starting said DC motor with a d.c. current as an initial value current, which is smaller than a threshold value current required for a first gear coupled to a rotor shaft of said DC motor to drive and rotate a second gear in engagement with said first gear;

• and
• wherein said predetermined time period has a length of time necessary and sufficient for bringing a tooth of said first gear into contact with a tooth of said second gear in a direction in which said first gear is going to drive and rotate said second gear, and said length of time is determined based on the value of said initial value current.

A motor control method for generating in a deceleration control period a waveform pattern of a target speed VC expressed by

• VC=V max{1−(x/N)a} (a is an arbitrary constant)
• where V max is the maximum speed of a motor to be controlled, N is the distance of each deceleration control period from a start position of a deceleration control period to a target stop position, and x is the distance from the start position of the deceleration control period to a current position, and for executing deceleration control of the motor in accordance with the waveform pattern of the target speed VC.

A recording medium of a computer program having recorded a computer program for executing on a computer system a motor control method for generating in a deceleration control period a waveform pattern of a target speed VC expressed by

• VC=V max{1−(x/N)a} (a is an arbitrary constant)
• where V max is the maximum speed of a motor to be controlled, N is the distance of each deceleration control period from a start position of a deceleration control period to a target stop position, and x is the distance from the start position of the deceleration control period to a current position, and for executing deceleration control of the motor in accordance with the waveform pattern of the target speed VC.

A motor control apparatus comprising a speed instruction unit that generates in a deceleration control period a waveform pattern of a target speed VC expressed by

• VC=V max{1−(x/N)a} (a is an arbitrary constant)
• where V max is the maximum speed of a motor to be controlled, N is the distance of each deceleration control period from a start position of a deceleration control period to a target stop position, and x is the distance from the start position of the deceleration control period to a current position, and generates and outputs a speed instruction signal that instructs a target speed VC based on said waveform pattern of the target speed VC.