Motor control device and automatic adjustment method for same

A motor control device including an automatic adjustment device that adaptively adjusts a controller included in a motor control system based on a frequency of a vibration component superimposed on a response of the motor control system, the automatic adjustment device comprising:

• a vibration extraction unit that receives the response of the motor control system and extracts the vibration component from the response of the motor control system;
• a notch filter unit that receives the vibration component extracted by the vibration extraction unit;
• an encoding unit that receives an internal state quantity of the notch filter unit calculated by the notch filter unit;
• a limiter unit that receives an output of the notch filter unit calculated by the notch filter unit;
• an adaptive updating unit that receives an output of the encoding unit and an output of the limiter unit;
• and
• a unit conversion unit that receives an output of the adaptive updating unit,
• wherein the encoding unit extracts and outputs only sign information of the internal state quantity, and outputs the sign information,
• the limiter unit calculates and outputs information that limits an output amplitude of the notch filter unit,
• the adaptive updating unit sequentially updates and outputs an estimated value of a notch frequency, which is a filter parameter of the notch filter unit, based on a product of the output of the encoding unit and the output of the limiter unit,
• the notch filter unit sequentially uses the estimated value sequentially calculated and output by the adaptive updating unit as the notch frequency,
• the unit conversion unit converts a unit of the estimated value sequentially calculated by the adaptive updating unit into hertz and outputs the converted value as an estimated value, and
• the automatic adjustment device adaptively adjusts the controller included in the motor control system by using the estimated value.