Motor control device, motor control system, and motor control method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsKenta Murakami, Hiroshi Fujiwara
Life of this patent
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Abstract
Provided is a motor control device capable of suppressing an increase in a time required for settling a position of a mover. Motor control device includes signal processing circuit that controls motor that moves mover. In a case where a change amount of a position deviation per unit time is equal to or less than a predetermined change amount, the position deviation being a difference between a target position of mover and a position of mover detected by position detection device for detecting the position of mover, signal processing circuit controls motor, and a first force for accelerating a speed of mover is generated and a second force for decelerating the speed of mover is generated after the first force is generated.
Claims11
A motor control device comprising
- a signal processing circuit that controls a motor that moves a mover, the signal processing circuit including a current controller that supplies a current to the motor to control a force generated by the motor,
- wherein, in a case where a change amount of a position deviation per unit time is equal to or less than a predetermined change amount, the signal processing circuit causes the motor to generate a first force for accelerating a speed of the mover for a first time period and generate a second force for decelerating the speed of the mover after the first time period elapses, the position deviation being a difference between a target position of the mover and a position of the mover detected by a position detection device for detecting the position of the mover,
- the signal processing circuit includes:
- a position controller that generates and outputs a first speed command based on the position deviation,
- a determination part that determines at least one of whether or not the change amount is equal to the predetermined change amount and whether or not the change amount is less than the predetermined change amount, and
- a compensation part that generates and outputs a second speed command for generating the first force and the second force based on the position deviation in a case where the determination part determines that the change amount is equal to the predetermined change amount and in a case where the determination part determines that the change amount is less than the predetermined change amount,
- the current controller supplies the current to the motor based on at least one of the first speed command and the second speed command output, and
- the current controller supplies the current to the motor based on only the second speed command in a case where the determination part determines that the change amount is equal to the predetermined change amount and in a case where the determination part determines that the change amount is less than the predetermined change amount.
A motor control method for controlling a motor that moves a mover, comprising:
- detecting a position of the mover by using a position detection device;
- obtaining a change amount of a position deviation per unit time, the position deviation being a difference between a target position of the mover and the position of the mover detected by the position detection device;
- causing the motor to generate a first force for accelerating a speed of the mover for a first time period, upon determining that the change amount of the position deviation per unit time is equal to or less a predetermined change amount;
- causing the motor to generate a second force for decelerating the speed of the mover after the first time period elapsed,
- wherein the method further comprises:
- generating and outputting a first speed command based on the position deviation;
- determining at least one of whether or not the change amount is equal to the predetermined change amount and whether or not the change amount is less than the predetermined change amount;
- generating and outputting a second speed command for generating the first force and the second force based on the position deviation in a case where it is determined that the change amount is equal to the predetermined change amount and in a case where it is determined that the change amount is less than the predetermined change amount;
- supplying current to the motor based on at least one of the first speed command and the second speed command;
- and
- supplying the current to the motor based on only the second speed command in a case where it is determined that the change amount is equal to the predetermined change amount and in a case where it is determined that the change amount is less than the predetermined change amount.
Dependencies are inferred from the claim text.