Motor control device and industrial machine for suppressing vibration
AssigneeFanuc Corporation
InventorsTsutomu Nakamura, Satoshi Ikai
Life of this patent
Estimating the term…
Abstract
A motor control device includes an acceleration detecting section configured to detect an acceleration of a control object, and an acceleration control section configured to control an acceleration of a motor driving the control object based on the detected acceleration, in which the acceleration control section includes a vibration component extraction filter configured to extract a vibration component generated between the motor and the control object, and the vibration component extraction filter changes a filter characteristic frequency according to at least one of a position and a mass of the control object.
Claims11
A motor control device comprising:
- an acceleration detecting section configured to detect an acceleration of a control object driven along a shaft that is supported on at least one end of the shaft by a supporting element;
- and
- an acceleration control section configured to control an acceleration of a motor driving the control object along the shaft based on the detected acceleration;
- wherein
- the acceleration control section includes a vibration component extraction filter configured to extract a vibration component generated between the motor and the control object on the basis of the detected acceleration, and
- the vibration component extraction filter computes and changes a filter characteristic frequency according to a plate spring vibration characteristic of the shaft computed based on an elasticity of the shaft and a position of the control object relative to the supporting element, and a mass of the control object.
An industrial machine comprising:
- a motor;
- a shaft driven by the motor;
- a control object movable by the shaft;
- an acceleration detecting section configured to detect an acceleration of the control object driven along the shaft that is supported on at least one end of the shaft by a supporting element;
- and
- an acceleration control section configured to control an acceleration of the motor driving the control object along the shaft based on the detected acceleration;
- wherein
- the acceleration control section includes a vibration component extraction filter configured to extract a vibration component generated between the motor and the control object on the basis of the detected acceleration, and
- the vibration component extraction filter computes and changes a filter characteristic frequency according to a plate spring vibration characteristic of the shaft computed based on an elasticity of the shaft and a position of the control object relative to the supporting element, and a mass of the control object.
An industrial machine comprising:
- a motor;
- a shaft driven by the motor;
- another shaft driven by a motor different from the motor;
- a control object movable by at least one of the shaft and the other shaft;
- an acceleration detecting section configured to detect an acceleration of the control object driven along the at least one of the shaft and the other shaft that is supported on at least one end of the at least one of the shaft and the other shaft by a supporting element;
- and
- an acceleration control section configured to control an acceleration of at least one of the motors driving the control object along the at least one of the shaft and the other shaft based on the detected acceleration;
- wherein
- the acceleration control section includes a vibration component extraction filter configured to extract a vibration component generated between at least one of the motors and the control object on the basis of the detected acceleration, and
- the vibration component extraction filter computes and changes a filter characteristic frequency according to a plate spring vibration characteristic of the at least one of the shaft and the other shaft computed based on an elasticity of the at least one of the shaft and the other shaft and a position of the control object relative to the supporting element, and a mass of the control object.
Dependencies are inferred from the claim text.