Motor control apparatus for controlling motor
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United States of America Patent
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Jan 10, 2017
Grant Date -
Dec 17, 2015
app pub date -
Apr 29, 2015
filing date -
Jun 13, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
A motor control apparatus includes a error calculation unit which calculates a error between a first position detection value of a movable part and a second position detection value of a driven part, a storage unit which stores the errors when the movable part engages with the driven part in a first and second drive direction, as a first initial error and a second initial error, respectively, and a compensation calculation unit which calculates the amount of compensation to correct backlash and an elastic deformation. The compensation calculation unit calculates a command error based on the first initial error and the second initial error and a predetermined constant which is larger than 0 and not greater than 1 and calculates the amount of compensation by subtracting the current error calculated by the error calculation unit from the command error.
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