Motor control system

A motor control system that communicatively connects, via a communication line, a controller and a plurality of motor control devices respectively controlling motors to each other, the controller generating a communication signal including each of operation commands for controlling each of the motors and transmitting the generated communication signal to each of the plurality of motor control devices in a predetermined communication cycle, wherein:

• the plurality of motor control devices includes two motor control devices in a first group and a motor control device in a second group, and
• each of the motor control devices in the first group includes:
• a data transceiver that receives an operation command in the communication signal, the operation command being issued to the motor control device, and receives operation information in the communication signal, the operation information relating to the motor control device in the second group;
• a motor controller that generates, based on the operation command, a torque command signal for controlling the motor;
• a corrector that generates a torque correction signal based on the operation information and corrects the torque command signal using the torque correction signal;
• and
• a synchronous timing generator that generates a timing signal that matches pieces of process timing of the motor control devices in the first group with each other,
• the operation command is a position command that commands a position in order to drive the motor as a control target of the motor control device,
• the motor controller includes a torque feedforward processor that performs a torque feedforward process for the position command using a torque feedforward gain, and
• the corrector changes the torque feedforward gain based on the operation information, and sets an output of the torque feedforward processor as the torque correction signal.

A motor control system that communicatively connects, via a communication line, a controller and a plurality of motor control devices respectively controlling motors to each other, the controller generating a communication signal including each of operation commands for controlling each of the motors and transmitting the generated communication signal to each of the plurality of motor control devices in a predetermined communication cycle, wherein:

• the plurality of motor control devices includes two motor control devices in a first group and a motor control device in a second group, and
• each of the motor control devices in the first group includes:
• a data transceiver that receives a first position command that commands a position for the motor control device in the communication signal, the first position command being issued to the motor control device, and receives a second position command that commands a position for the motor control device in the second group in the communication signal, a gain or a constant, and a control parameter including a torque correction reference value Cor, from the controller;
• a motor controller that generates, based on the first position command, a torque command signal Tc for controlling the motor;
• a corrector that generates a torque correction amount Cot based on the second position command, corrects the torque command signal Tc using the torque correction amount Cot, and generates a corrected torque command Tcc;
• a control parameter setting unit that sets, in the motor controller, at least one of the gain and the constant received by the data transceiver, and sets, in the corrector, the torque correction reference value Cor;
• a drive unit that generates drive voltages Vd, based on the corrected torque command Tcc supplied from the corrector, and supplies the drive voltages Vd to each of the motor in the first group;
• and
• a synchronous timing generator that generates a timing signal that matches pieces of process timing of the motor controller in the first group with each other.