Motor control device
AssigneeHitachi Industrial Equipment Systems Co., Ltd.
InventorsMitsuru Matsubara, Kazuaki Tobari, Yuuri Takano, Yusuke Uei, Tetsuo Yanada, Hironori Ohashi
Life of this patent
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Abstract
This motor control device receives a speed command from an upper layer system control device having a position controller, the motor control device having: a position command estimator that calculates an estimate of a position command on the basis of the speed command and a motor axis position response; and a speed command generator that generates an actual speed command on the basis of the estimate so that an end section of a machine connected to the motor does not oscillate, wherein the actual speed command is output from the speed command generator to a speed controller.
Claims12
A motor control device for receiving a speed command from an upper layer system control device having a position controller, the motor control device comprising:
- a position command estimator that calculates an estimate of a position command based on the speed command and a motor axis position response;
- and
- a speed command generator that generates an actual speed command based on the estimate, wherein
- the actual speed command prevents an end section of a machine connected to a motor from oscillating, and
- the actual speed command is output from the speed command generator to a speed controller.
A motor control device for receiving a speed command from an upper layer system control device having a position controller, the motor control device comprising:
- a position command estimator that calculates an estimate of a position command based on the speed command and a motor axis position response;
- a parallel type damping controller that extracts a frequency component for exciting oscillation of an end section of a machine connected to a motor included in the speed command based on the estimate, and outputs the extracted frequency component;
- and
- an adder/subtractor that subtracts an output of the parallel type damping controller from the speed command,
- wherein an output of the adder/subtractor is set as an actual speed command and used as a command of a speed controller.
A motor control device for receiving a speed command from an upper layer system control device having a position controller, the motor control device comprising:
- a position command estimator that calculates an estimate of a position command based on the speed command and a motor axis position response from a motor;
- a parallel type damping controller that extracts a frequency component for exciting oscillation of an end section of a machine included in the speed command based on an estimate of the position command, and outputs a signal obtained by processing the extracted frequency component using a predetermined filter;
- and
- an adder, wherein:
- the motor axis position response and an output of the parallel type damping controller are added by the adder;
- and
- an output signal of the adder is used as an actual motor axis position response, and the actual motor axis position response is output to the position controller.
Dependencies are inferred from the claim text.