Motor control apparatus

A motor control apparatus that calculates, based on a velocity signal that indicates velocity of a motor coupled to a mechanical load and a velocity command that is a command value for the velocity of the motor, a torque command that is a command value for torque of the motor to control the motor, the apparatus comprising:

• circuitry configured to
• calculate and output a first operation signal such that the velocity signal agrees with the velocity command;
• provide current to the motor based on a basis of the torque command;
• output the velocity signal;
• output an oscillation instruction signal that is a signal indicative of an on-state that gives an instruction to cause oscillation or an off-state that gives an instruction to stop the oscillation;
• to perform filtering processing having a frequency characteristic defined by a filter parameter;
• configure a control loop in an oscillation period to cause the control loop in the oscillation period to oscillate during the oscillation period when the oscillation instruction signal is in the on-state;
• acquire, as an evaluation value, a ratio of an amplitude of an input signal to an amplitude of an output signal when the control loop in the oscillation period is caused to oscillate;
• and
• to acquire evaluation values when a plurality of filter parameter candidates are set sequentially, select, by comparing the evaluation values, the filter parameter that achieves a smaller evaluation value, and set the selected filter parameter, wherein
• the circuitry is further configured to
• perform the filtering processing on the first operation signal and output a fourth operation signal,
• receive the fourth operation signal and output a fifth operation signal, and
• obtain and output the torque command by adding the fourth operation signal and the fifth operation signal together or selecting one of the fourth operation signal and the fifth operation signal.

A motor control method that calculates, based on a velocity signal that indicates velocity of a motor coupled to a mechanical load and a velocity command that is a command value for the velocity of the motor, a torque command that is a command value for torque of the motor to control the motor, the method comprising:

• calculating and outputting a first operation signal such that the velocity signal agrees with the velocity command;
• providing current to the motor based on the torque command;
• outputting the velocity signal;
• outputting an oscillation instruction signal that is a signal indicative of an on-state that gives an instruction to cause oscillation or an off-state that gives an instruction to stop the oscillation;
• performing filtering processing having a frequency characteristic defined by a filter parameter;
• configuring a control loop in an oscillation period to cause the control loop in the oscillation period to oscillate by self-excited vibration during the oscillation period when the oscillation instruction signal is in the on-state;
• acquiring, as an evaluation value, a ratio of an amplitude of an input signal to an amplitude of an output signal when the control loop in the oscillation period is caused to oscillate;
• and
• acquiring evaluation values when a plurality of filter parameter candidates are set sequentially, select, by comparing the evaluation values, the filter parameter that achieves a smaller evaluation value, and set the selected filter parameter.