MOTOR CONTROL APPARATUS FOR CORRECTING BACKLASH

• Main Authors: TAKAYAMA KENICHI, IGAI SATOSHI, IWASHITA HEISUKE
• Format: Patent
• Language: English
• Published: 20.03.2014
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; ELECTRICITY; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERATION; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PROBLEM TO BE SOLVED: To create an optimal backlash correction amount.SOLUTION: A motor control apparatus (10) comprises: a first position detection section (11) for detecting a position of a movable part; a second position detection section (12) for detecting a position of a driven part; a deviation computation section (31) for computing a deviation between a first position detection value detected by the first position detection section and a second position detection value detected by the second position detection section; a determination section (32) for determining whether the movable part is engaged to the driven part when the movable part is moved from an arbitrary initial position in a first drive direction and a second drive direction; a retention section (33) for retaining the deviation computed by the deviation computation section as an initial deviation in relation to the first drive direction or the second drive direction when it is determined by the determination section that the movable part is engaged to the driven part; and a correction amount computation section (34) for computing a backlash correction amount of backlash. The correction amount computation section computes the backlash correction amount on the basis of the deviation computed by the deviation computation section and the initial deviation retained by the retention section for present positions of the movable part and the driven part.