JPH11356075A - Equipment and method for controlling motor, and serving medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress disturbance while securing servo characteristic by controlling a motor with an overlay signal of a speed error signal and a phase error signal or with a signal generated by further overlaying a signal for suppressing disturbance on the overlay signal, according to the judgement result for the mode whether it is a recording mode or regenerating mode. SOLUTION: In a capstan system controller of a VTR, a speed error signal from a speed servo section 2 and a phase error signal from a phase servo section 3 are overlaid by an adder 4 and then an overlay signal is outputted to an adder 12. When a mode judging section 22 determines that the tape speed is an SDL method and an LP mode, a disturbance estimating observer processing section 10 is inputted with a signal from the adder 12 one sample before through a delay section 11 and then calculates a controlled variable for suppressing disturbance applied to a motor 8 and then outputs the calculation result to the adder 12 through a switch 21. By this method, observer processing is conducted only in the case that the sampling frequency of FG is low and the time for observer processing can be certainly secured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device and method, and a medium to be provided, and more particularly to a method for recording or reproducing, which determines whether or not to perform processing by a disturbance estimation observer, or a method for determining a disturbance estimation observer. The present invention relates to a motor control device and method capable of suppressing a disturbance suitable for a mode by changing a disturbance estimation band of a motor, and a providing medium.

[0002]

2. Description of the Related Art FIG. 6 is a diagram showing a configuration of a capstan servo system of a conventional video tape recorder. Motor 8
The axis of the frequency generator (FG: Frequency Generator)
Is attached. The FG outputs a frequency corresponding to the rotation of the motor 8 to the time measuring unit 1. The time measuring unit 1 measures an interval (time) from the time when each pulse is received.

[0003] The measured time is input to the speed servo unit 2. The speed servo unit 2 calculates the rotation speed of the motor 8 from the input time. The speed servo unit 2 generates a speed error signal by comparing the calculated rotation speed with the target rotation speed, and outputs the speed error signal to the adder 4.

Similarly, the phase servo unit 3 calculates a tracking error as a phase error signal and outputs the same to the adder 4. Thus, the signal input to the adder 4 is
The signals are superimposed and output to a PWM (Pulse Width Modulation) output unit 5.

[0005] The PWM output unit 5 converts the input signal into a PWM signal, and outputs the PWM signal to the motor driver 7 via an LPF (Low Pass Filter) 6. The motor driver 7 drives the motor 8 based on the input signal.

Incidentally, a disturbance estimation observer, for example, is added to such a servo system in order to reduce the effects of disturbances such as fluctuations in the load applied to the motor, eccentricity of the motor shaft, and fluctuations in the voltage of the motor drive amplifier. May be done.

FIG. 7 is a block diagram showing a configuration of a capstan servo system in which a disturbance estimation observer is introduced. In the configuration of the capstan servo system shown in FIG. 7, the signal output from the disturbance estimation observer
Are superimposed by the adder 12 on the signal output from the. Further, a disturbance estimation observer processing unit 1
0, the signal output from the time measuring unit 1 and the adder 1
The one-sample-preceding signal output from 2 is input via the delay unit 11.

The disturbance estimation observer processing unit 10 estimates a disturbance from the signal output from the time measurement unit 1 and the signal from the adder 12 one sample before delayed by the delay unit 11, and estimates the disturbance. A signal for suppressing disturbance is output to the adder 12. The adder 12 superimposes the input signal and outputs the signal to the PWM output unit 5. In this way, the PWM
The signal input to the output unit 5 is converted into a PWM signal,
6 to the motor driver 7. The motor driver 7 drives the motor 8 based on the input signal. In this way, disturbance on the motor 8 is suppressed.

[0009]

With the miniaturization of video tape recorders (VTRs), motors used for servos have also been miniaturized. On the other hand, to improve servo characteristics such as phase margin, it is necessary to increase the sampling frequency of a frequency generator (FG) attached to the motor. To increase the sampling frequency, it is necessary to increase the number of teeth of the FG (enlarge the motor), which hinders downsizing the VTR. Therefore, there is a problem that it is difficult to increase the sampling frequency and reduce the size of the VTR.

When the sampling frequency is increased, the FG interruption interval is shortened. Observer processing is performed within that interrupt, but since it is a relatively heavy processing,
Before the processing is completed, the next interrupt is entered,
As a result, there is a problem that the function as an observer cannot be performed.

The present invention has been made in view of such circumstances, and determines whether or not to perform observer processing according to a mode (sampling frequency) at the time of recording or reproduction, or disturbs the observer processing. By changing the value of the estimation band, it is possible to appropriately suppress disturbance.

[0012]

A motor control device according to a first aspect of the present invention includes a speed error calculating unit that calculates an error in the rotational speed of the motor, a phase error calculating unit that calculates an error in the rotational phase of the motor, Superimposing means for superimposing the signal output from the speed error calculating means and the signal output from the phase error calculating means, mode determining means for determining a mode at the time of recording or reproduction, and suppressing disturbance on the motor A signal for calculating and outputting the suppression signal output means, and according to the determination result of the mode determination means, control the motor with a signal from the superposition means, or further from the suppression signal output means to the signal from the superposition means And control means for controlling the motor with a signal obtained by superimposing the above signal.

According to a second aspect of the present invention, there is provided a motor control method comprising: a speed error calculating step for calculating a motor rotational speed error; a phase error calculating step for calculating a motor rotational phase error; and a speed error calculating step. Signal and
A superposition step of superimposing the signal output in the phase error calculation step, a mode determination step of determining a mode at the time of recording or reproduction, and a suppression signal for calculating and outputting a signal for suppressing disturbance applied to the motor. According to the output step and the determination result of the mode determination step, the motor is controlled by the signal in the superposition step, or the motor is controlled by the signal in which the signal in the suppression signal output step is further superimposed on the signal in the superposition step. And a control step.

According to a third aspect of the present invention, there is provided a medium to be output in a speed error calculating step for calculating a motor rotational speed error, a phase error calculating step for calculating a motor rotational phase error, and a speed error calculating step. Signal, a superposition step of superimposing the signal output in the phase error calculation step, a mode determination step of determining the mode at the time of recording or reproduction, and calculates a signal for suppressing disturbance applied to the motor, According to the output of the suppression signal output step and the determination result of the mode determination step, the motor is controlled by the signal of the superposition step, or the signal obtained by superimposing the signal of the suppression signal output step on the signal of the superposition step. Providing a computer-readable program for executing a process including a control step of controlling a motor. .

According to a fourth aspect of the present invention, there is provided a motor control device, comprising: a speed error calculating means for calculating an error in the rotational speed of the motor; a phase error calculating means for calculating an error in the rotational phase of the motor;
A signal output from the speed error calculating means, a superimposing means for superimposing the signal output from the phase error calculating means, and a mode determining means for determining a mode at the time of recording or reproduction,
In response to the mode determined by the mode determination means, setting means for setting a disturbance estimation band, based on the disturbance estimation band set by the setting means, to calculate a signal for suppressing disturbance applied to the motor, It is characterized by comprising a suppression signal output means for outputting and a control means for controlling the motor with a signal obtained by superimposing a signal from the suppression signal output means on a signal from the superimposition means.

According to a fifth aspect of the present invention, there is provided a motor control method comprising the steps of: a speed error calculating step for calculating a motor rotational speed error; a phase error calculating step for calculating a motor rotational phase error; and a speed error calculating step. Signal and
A superposition step of superimposing the signal output in the phase error calculation step, a mode determination step of determining a mode at the time of recording or reproduction, and a disturbance estimation band corresponding to the mode determined in the mode determination step. A setting step for calculating, based on the disturbance estimation band set in the setting step, a signal for suppressing disturbance applied to the motor is calculated and output, and a suppression signal output step for outputting the signal; And controlling the motor with a signal obtained by superimposing the signal in the step.

According to a sixth aspect of the present invention, the providing medium is output in a speed error calculating step of calculating an error of a motor rotational speed, a phase error calculating step of calculating an error of a rotational phase of the motor, and a speed error calculating step. A superimposing step of superimposing the signal output in the phase error calculating step and the signal output in the phase error calculating step, a mode determining step of determining a mode at the time of recording or reproduction, and a disturbance corresponding to the mode determined in the mode determining step. A setting step of setting an estimation band, a signal for suppressing disturbance applied to the motor is calculated based on the disturbance estimation band set in the setting step, and a suppression signal output step of outputting the signal; And a control step of controlling the motor with a signal obtained by superimposing the signal in the suppression signal output step. Characterized in that it provides only take possible program.

[0018] In the motor control device according to the first aspect, the motor control method according to the second aspect, and the providing medium according to the third aspect, the speed error signal and the phase error signal are superimposed, and recording or reproduction is performed. The mode at the time is determined, a signal for suppressing disturbance applied to the motor is calculated, and the motor is controlled by a signal in which the speed error signal and the phase error signal are superimposed according to the mode determination result, Further, the motor is controlled by a signal on which a signal for suppressing disturbance is superimposed.

In the motor control device according to the fourth aspect, the motor control method according to the fifth aspect, and the providing medium according to the sixth aspect, the speed error signal and the phase error signal are superimposed, and recording or reproduction is performed. The mode at the time is determined, and a disturbance estimation band is set according to the determined mode,
A signal for suppressing disturbance applied to the motor is calculated based on the set disturbance estimation band, and the motor is controlled by a signal obtained by superimposing the calculated signal, a speed error signal, and a phase error signal.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below. In order to clarify the correspondence between each means of the invention described in the claims and the following embodiments, each means is described. When the features of the present invention are described by adding the corresponding embodiment (however, an example) in parentheses after the parentheses, the result is as follows. However, of course, this description does not mean that each means is limited to those described. In addition, the same reference numerals are given to portions corresponding to the conventional case, and the description thereof will be omitted as appropriate.

According to the first aspect of the present invention, the motor control device includes a speed error calculating means (for example, step S3 in FIG. 2) for calculating a rotational speed error of the motor, and a phase error calculating means for calculating an error of the rotational phase of the motor. Means (for example, step S4 in FIG. 2), superimposing means (for example, the adder 4 in FIG. 1) for superimposing the signal output from the speed error calculating means and the signal output from the phase error calculating means. Mode determining means for determining the mode at the time of recording or reproduction (step S in FIG. 2)
5), a suppression signal output means (for example, step S6 in FIG. 2) for calculating and outputting a signal for suppressing disturbance applied to the motor, and a signal from the superimposition means according to the determination result of the mode determination means. Control means for controlling the motor by means of a control means for controlling the motor by means of a signal obtained by superimposing a signal from the suppression signal output means on a signal from the superimposition means (for example, FIG.
Step S9).

A motor control device according to a fourth aspect of the present invention includes a speed error calculating means (for example, step S23 in FIG. 4) for calculating an error in the rotational speed of the motor, and a phase error calculating means for calculating an error in the rotational phase of the motor. Means (for example, step S24 in FIG. 4), superimposing means (for example, the adder 4 in FIG. 3) for superimposing the signal output from the speed error calculating means and the signal output from the phase error calculating means, Mode determining means (for example, step S25 in FIG. 4) for determining the mode at the time of recording or reproduction, and setting means (for example, FIG. 4) for setting a disturbance estimation band corresponding to the mode determined by the mode determining means. Step S26) and a suppression signal output means (for example, a signal for suppressing a disturbance applied to the motor based on the disturbance estimation band set by the setting means) 4 and step S27), the control means for controlling the motor in superimposed signals from further suppression signal output means to the signal from the superimposing means signal (e.g., FIG. 4
Step S29).

FIG. 1 is a block diagram showing a configuration of a capstan servo system of a VTR to which a motor control device according to the present invention is applied. In this configuration example, the mode determination unit 22 controls the switch 21 that connects the disturbance estimation observer processing unit 10 and the adder 12. Other configurations are the same as those in FIG. Note that the LP in FIG.
The components other than the F6, the motor driver 7, and the motor 8 are configured by, for example, microcomputer software.

Incidentally, for recording / reproducing of a VTR using such a capstan servo system, for example, SD (St.
andard Definition) method and SDL (Standard Definition)
Long) method, and each method has SP (Standard)
Play) mode and LP (Long Play) mode. The relationship between the rotational speed ratio of the motor 8 and the sampling frequency of the FG (shown in parentheses after the speed ratio) in these methods and modes is as follows. Although some devices use a mode for detecting both edges of the FG, the sampling frequency will be described here.

That is, when the speed of the SP mode of the SD system is 1 (1080 Hz), the speed ratio of the LP mode of the SD system is 2/3 (1440 Hz). Also, SDL
Speed ratio of SP mode is 1/2 (1080Hz)
And the speed ratio of the LP mode of the SDL system is 1/3
(720 Hz).

The mode judging section 22 receives the above-mentioned SD or SD
Whether the switch 21 is to be closed or not is determined based on the difference between the L method and the SP or LP mode, in other words, the difference in the tape speed. Hereinafter, the operation of the capstan servo system shown in FIG. 1 will be described with reference to the flowchart of FIG. 2 as an example in which the switch 21 is closed only in the LP mode of the SDL system.

First, in step S1, the time measuring unit 1
The signal output from the FG attached to the motor 8 is
Input as an interrupt signal. In step S2, the rotation speed of the motor 8 is calculated. First, the time measuring unit 1 measures a time interval between the currently input pulse signal and the previously input pulse signal, and outputs the measured value to the speed servo unit 2. And the speed servo unit 2
The rotational speed of the motor 8 is determined using the input measurement value.

The speed servo 2 determines in step S3
It measures how much the calculated rotational speed is different from the target value (error). That is, in the speed servo 2 part,
The target rotation speed of the motor 8 is stored, and an error between the value and the calculated value is obtained. The value obtained in this way is output to the adder 4 as a speed error signal.

In step S4, the phase servo section 3 outputs a signal (for example, ATF,
CTL etc.) to calculate the phase shift. The phase servo unit 3 stores a target phase value, and a phase shift is calculated by subtracting the target value from the input value. The value obtained in this manner is output to the adder 4 as a phase error signal, is superimposed on the speed error signal also input to the adder 4, and is output to the adder 12.

In step S5, the mode determination section 22 determines whether the tape speed is in the SDL mode and in the LP mode. This determination is made in response to a method and mode command from the user. In the LP mode of the SDL system, the tape speed is the slowest and the sampling frequency is lower than those of the other modes, so that the disturbance estimation observer processing unit 10 ensures sufficient processing time and servo characteristics. can do. Therefore, when it is determined in step S5 that the tape speed is the SDL mode and the LP mode, the process proceeds to step S6. In step S6, the disturbance estimation observer processing unit 10
A signal from the adder 12 one sample before is input through the delay unit 11, and a disturbance applied to the motor 8 is estimated using the signal and a signal from the time measurement unit 1. Of control amount to suppress noise (observer operation)
I do.

Then, in step S7, the mode determining section 22 closes the switch 21. Thus, the control amount calculated in step S6 is output to the adding unit 12. The control amount output to the addition unit 12 and the output from the adder 4 are superimposed and output to the PWM output unit 5. In step S8, the PWM output unit 5 outputs the input signal to PW
The signal is converted into an M signal and output to the motor driver 7 via the LPF 6.

On the other hand, if it is determined in step S5 that the tape speed is not in the LP mode of the SDL system,
The processing in steps S6 and S7 is omitted, and the process proceeds to step S8. Therefore, in this case, the signal output from the PWM output unit 5 in step S8 is a signal in which the two signals of the speed error signal and the phase error signal are superimposed, and the signal from the disturbance estimation observer processing unit 10 is included. Not a signal.

In step S9, the motor driver 7 drives the motor 8 according to the input signal. Thereby, the rotation speed and the rotation phase are controlled.

As described above, the observer processing is performed when the sampling frequency of the FG is low (the tape speed is low) and the time for performing the observer processing can be sufficiently ensured. In particular, when the tape speed is low, it is susceptible to disturbance and wow and flutter is bad, so it is necessary to perform an observer process, and the present invention is effective when it is desired to suppress disturbance while ensuring servo characteristics. Of course, the observer process may be performed (the switch 21 is closed) not only in the LP mode of the SDL system but also in other modes.

FIG. 3 is a block diagram showing a configuration example of another capstan servo system. In this configuration example, the signal output from the mode determination unit 22 is
1 is input. Then, the disturbance estimation observer processing unit 10 performs an observer operation according to the disturbance estimation band set by the disturbance estimation band setting unit 31. The output of the disturbance estimation observer processing unit 10 is directly supplied to the adder 12,
Switches are omitted. Other configurations are the same as those in FIG.

The operation of the capstan servo system shown in FIG. 3 will be described with reference to the flowchart of FIG.
The processing of steps S21 to S24 is the same as step S21 of FIG.
Since the processing is the same as the processing from 1 to S4, the description is omitted.

In step S25, the mode determination unit 2
2, it is determined whether the mode is the SD mode or the SDL mode, and whether the mode is the SP mode or the LP mode. The determination result by the mode determination unit 22 is output to the disturbance estimation band setting unit 31. The disturbance estimation band setting unit 31 sets the value of the disturbance estimation band g in step S26. The disturbance estimation band g is a variable serving as a measure of the band suppressed by the observer.

By changing the disturbance estimation band g, the suppression characteristic changes. FIG. 5A is a graph showing that the suppression characteristic changes with a change in the disturbance estimation band g. From the figure, it can be seen that, when the value of the disturbance estimation band g is increased, the low-frequency suppression effect is increased. FIG.
(B) shows a graph of the phase margin due to a change in the disturbance estimation band g. From this graph, it can be seen that the larger the value of the disturbance estimation band g, the smaller the phase margin.

From these graphs, it can be seen that when the value of the disturbance estimation band g is increased, the low-frequency suppression effect increases, but the phase margin decreases. If the suppression effect is large,
It becomes easier to suppress disturbance. If the phase margin is small, oscillation may occur, so that it cannot be made very small.
As described above, since the disturbance estimation band g relates to the suppression effect and the phase margin, its value needs to be determined in consideration of the tape speed, the characteristics of the motor, the sampling frequency of the FG, and the like.

Therefore, for example, each SP of the SD system and the SDL system
In the mode, the value of the disturbance estimation band g is set to 40π (2π × 2
0: Suppress the gain below the 20 Hz band), and set the value of the disturbance estimation band g to 60π (2
π × 30: suppresses the gain of 30 Hz band or less). In the LP mode of the SDL system, the value of the disturbance estimation band g is set to 20π (2π × 10: suppresses the gain of 10 Hz band or less). Can be. Of course, other values may be used.

As described above, the disturbance estimation band setting unit 31 previously stores the value of the disturbance estimation band g suitable for each mode.
Then, in step S26, the disturbance estimation band setting unit 31 sets a value of the disturbance estimation band g according to the mode determined by the mode determination unit 22. Then, the value of the selected disturbance estimation band g and the signal from the time measurement unit 1 are input to the disturbance estimation observer processing unit 10.

In step S27, the disturbance estimation observer processor 10 performs an observer operation according to the value of the disturbance estimation band g set in step S26. The result of the observer operation is output to the adder 12, superimposed on the signal from the adder 4, and output to the PWM output unit 5. Since the processing after step S28 is the same as the processing after step S8 in FIG. 2, the description thereof is omitted.

As described above, since the value of the disturbance estimation band g is set in accordance with the mode, disturbance suppression and phase margin (servo characteristics) suitable for each mode can be obtained.

In the present specification, a supply medium for providing a user with a computer program for executing the above processing includes an information recording medium such as a magnetic disk and a CD-ROM, and a network such as the Internet and a digital satellite. Transmission media is also included.

[0045]

According to the motor control device according to the first aspect, the motor control method according to the second aspect, and the providing medium according to the third aspect, according to the determination result of the mode at the time of recording or reproduction. Since the motor is controlled by a signal on which the speed error signal and the phase error signal are superimposed, or the motor is controlled by a signal on which a signal for suppressing disturbance is further superimposed, while securing the servo characteristics, It is possible to suppress disturbance.

In the motor control device according to the fourth aspect, the motor control method according to the fifth aspect, and the providing medium according to the sixth aspect, the disturbance estimation band is set in accordance with the recording or reproducing mode. Based on the set disturbance estimation band, a signal for suppressing disturbance applied to the motor is calculated based on the set disturbance estimation band, and the motor is controlled by a signal obtained by superimposing the calculated signal, the speed error signal, and the phase error signal. Therefore, it is possible to suppress the disturbance while securing the servo characteristics.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a capstan servo system to which a motor control device according to the present invention is applied.

FIG. 2 is a flowchart illustrating the operation of the capstan servo system shown in FIG.

FIG. 3 is a block diagram showing a configuration of another capstan servo system.

FIG. 4 is a flowchart illustrating an operation of the capstan servo system shown in FIG. 3;

FIG. 5 is a diagram illustrating a suppression characteristic and a phase margin.

FIG. 6 is a block diagram showing a configuration of an example of a conventional capstan servo system.

FIG. 7 is a block diagram illustrating a configuration of an example of a capstan servo system using a disturbance estimation observer.

[Explanation of symbols]

1 time measurement unit, 2 speed servo unit, 3 phase servo unit, 5 PWM output unit, 6 LPF, 7 motor driver, 8 motor, 10 disturbance estimation observer processing unit, 11 delay unit, 22 mode determination unit, 31
Disturbance estimation band setting unit

Claims (6)

[Claims] A speed error calculating means for calculating an error in the rotational speed of the motor; a phase error calculating means for calculating an error in the rotational phase of the motor; a signal output from the speed error calculating means; Superimposing means for superimposing a signal output from the calculating means; mode determining means for determining a mode at the time of recording or reproduction; and a suppression signal output for calculating and outputting a signal for suppressing disturbance applied to the motor. Means for controlling the motor with a signal from the superimposing means, or a signal obtained by superimposing a signal from the suppression signal output means on a signal from the superimposing means, according to a result of the determination by the mode determining means. A motor control device, comprising: control means for controlling the motor. 2. A speed error calculating step of calculating an error of a rotation speed of a motor; a phase error calculating step of calculating an error of a rotation phase of the motor; a signal output in the speed error calculating step; A superposition step of superimposing the signal output in the calculation step; a mode determination step of determining a mode during recording or reproduction; a suppression signal output for calculating and outputting a signal for suppressing disturbance applied to the motor. And controlling the motor with the signal in the superposition step, or a signal in which the signal in the suppression signal output step is further superimposed on the signal in the superposition step, according to the determination result of the mode determination step. A control step of controlling the motor. A speed error calculating step of calculating an error of a rotation speed of the motor; a phase error calculating step of calculating an error of a rotation phase of the motor; a signal output in the speed error calculating step; A superposition step of superimposing the signal output in the calculation step; a mode determination step of determining a mode at the time of recording or reproduction; and a suppression signal output for calculating and outputting a signal for suppressing disturbance applied to the motor. And controlling the motor with the signal in the superposition step, or a signal in which the signal in the suppression signal output step is further superimposed on the signal in the superposition step, according to the determination result of the mode determination step. Providing a computer readable program for executing a process including a control step of controlling the motor. Providing medium characterized. A speed error calculating means for calculating an error in the rotational speed of the motor; a phase error calculating means for calculating an error in the rotational phase of the motor; a signal output from the speed error calculating means; Superimposing means for superimposing the signal output from the calculating means, mode determining means for determining a mode at the time of recording or reproduction, and setting a disturbance estimation band corresponding to the mode determined by the mode determining means. Setting means, a signal for suppressing disturbance applied to the motor based on the disturbance estimation band set by the setting means, a suppression signal output means for outputting the signal, and a signal from the superimposing means, A motor control device comprising: a control unit that controls the motor with a signal obtained by superimposing a signal from a suppression signal output unit. 5. A speed error calculating step for calculating a rotation speed error of a motor, a phase error calculating step for calculating an error of a rotation phase of the motor, a signal output in the speed error calculating step, A superposition step of superimposing the signal output in the calculation step; a mode determination step of determining a mode at the time of recording or reproduction; and a disturbance estimation band is set corresponding to the mode determined in the mode determination step. A setting step, a signal for suppressing disturbance applied to the motor is calculated based on the disturbance estimation band set in the setting step, and a suppression signal output step of outputting the signal; and Controlling the motor with a signal obtained by superimposing the signal in the suppression signal output step. Control method. 6. A speed error calculating step for calculating a rotation speed error of the motor, a phase error calculating step for calculating a rotation phase error of the motor, a signal output in the speed error calculating step, and a phase error. A superposition step of superimposing the signal output in the calculation step; a mode determination step of determining a mode at the time of recording or reproduction; and a disturbance estimation band is set corresponding to the mode determined in the mode determination step. A setting step, a signal for suppressing disturbance applied to the motor is calculated based on the disturbance estimation band set in the setting step, and a suppression signal output step of outputting the signal; and A control step of controlling the motor with a signal in which the signal in the suppression signal output step is superimposed. A providing medium for providing a program readable by a computer.