Method and apparatus for controlling motor
AssigneeCanon Kabushiki Kaisha
InventorsNobutsune Kobayashi, Michiharu Shoji, Hiroyuki Saito
Life of this patent
Estimating the term…
Abstract
In controlling a motor in a device which drives a mechanism using the motor as a power source, in executing driving, an ideal profile of the driving is generated in accordance with a target position and a preset initial parameter, driving of the motor is controlled in accordance with the profile, the value of the initial parameter is evaluated at the end of driving, and the value of the initial parameter is changed in accordance with the evaluation result. High-speed accurate position control can be achieved independently of the characteristic of an individual motor to be used.
Claims14
A motor control method in a device which drives a mechanism using a motor as a power source, comprising:
- a setting step of setting a driving parameter for the motor;
- a profile generation step of, in executing driving of the motor, generating a position profile and a speed profile of the driving in accordance with a target position and the driving parameter set in said setting step;
- a tracking control step of controlling the driving of the motor by dividing the driving into a plurality of regions including an acceleration region, a deceleration region and a positioning region and driving the motor in the acceleration region and the deceleration region in accordance with the position profile and driving the motor in the positioning region in accordance with the speed profile;
- an evaluation step of, at an end of the driving, evaluating the driving parameter by using a result of actual driving and a predetermined value;
- and
- a changing step of changing the driving parameter used in the positioning region in accordance with a result of evaluation.
A motor control apparatus for driving a mechanism using a motor as a power source, comprising:
- setting means for setting a driving parameter for the motor;
- profile generation means for, in executing driving of the motor, generating a position profile and a speed profile of the driving in accordance with a target position and the driving parameter set by said setting means;
- tracking control means for controlling the driving of the motor by dividing the driving into a plurality of regions including an acceleration region, a deceleration region and a positioning region and driving the motor in the acceleration region and the deceleration region in accordance with the position profile and driving the motor in the positioning region in accordance with the speed profile;
- evaluation means for, at an end of the driving, evaluating the driving parameter by using a result of actual driving and a predetermined value;
- and
- changing means for changing the driving parameter used in the positioning region in accordance with a result of evaluation.
An electronic device having a motor control apparatus for driving a mechanism using a motor as a power source, said apparatus comprising:
- setting means for setting a driving parameter for the motor;
- profile generation means for, in executing driving of the motor, generating a position profile and a speed profile of the driving in accordance with a target position and the driving parameter set by said setting means;
- tracking control means for controlling the driving of the motor by dividing the driving into a plurality of regions including an acceleration region, a deceleration region and a positioning region and driving the motor in the acceleration region and the deceleration region in accordance with the position profile and driving the motor in the positioning region in accordance with the speed profile;
- evaluation means for, at an end of the driving, evaluating the driving parameter by using a result of actual driving and a predetermined value;
- and
- changing means for changing the driving parameter used in the positioning region in accordance with a result of evaluation.
A printing apparatus using a motor control apparatus for conveying a printing medium using a motor as a power source, said apparatus comprising:
- setting means for setting a driving parameter for the motor;
- profile generation means for, in executing driving of the motor, generating a position profile and a speed profile of the driving in accordance with a target position and the driving parameter set by said setting means;
- tracking control means for controlling the driving of the motor by dividing the driving into a plurality of regions including an acceleration region, a deceleration region and a positioning region and driving the motor in the acceleration region and the deceleration region in accordance with the position profile and driving the motor in the positioning region in accordance with the speed profile;
- evaluation means for, at an end of the driving, evaluating the driving parameter by using a result of actual driving and a predetermined value;
- and
- changing means for changing the driving parameter used in the positioning region in accordance with a result of evaluation.
Dependencies are inferred from the claim text.