# US 2014/0191702 A1 · Motor controlling device, motor controlling method and machinery system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0191702 A1 - Document ID: US20140191702A1 - Status: Published application - Kind: A1 - Application number: 14/148,730 - Filed: 2014-01-07 - Published: 2014-07-10 - Earliest claimed: 2013-01-08 - Assignees: Kabushiki Kaisha Yaskawa Denki - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Yasufumi YOSHIURA; Yasuhiko KAKU - Web page: https://patentgrep.com/patent/US20140191702A1 ## CPC - H02P 23/20: Controlling the acceleration or deceleration - H02P 25/06: Linear motors - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery. ## Claims ### Claim 1 A motor controlling device, comprising: a position controller for generating a speed reference based on a positional reference and a motor position; a speed controller for generating a torque reference based on the speed reference and a motor speed; a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached; an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor; and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery. ### Claim 2 (depends on 1) The motor controlling device of claim 1, wherein the acceleration feedback signal generator has a primary low pass filter and a gain, and generates the feedback signal based on the acceleration detection signal via the primary low pass filter and the gain, and wherein the positional reference filter has a time constant same as a time constant of the primary low pass filter in a transfer function thereof. ### Claim 3 (depends on 2) The motor controlling device of claim 2, wherein the positional reference filter is provided with a first dipole removal filter having a first time constant in a denominator and a second time constant in a numerator of the transfer function, wherein the first time constant is the same as the time constant of the primary low pass filter, and the second time constant is a time constant that can remove a pole of a transfer function from the positional reference to the position of the machinery. ### Claim 4 (depends on 2) The motor controlling device of claim 2, wherein the acceleration feedback signal generator further has a primary high pass filter arranged in series to the primary low pass filter, and wherein the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function. ### Claim 5 (depends on 4) The motor controlling device of claim 4, wherein the positional reference filter is provided with a second dipole removal filter having a third time constant in a denominator and a fourth time constant in a numerator of the transfer function, and wherein the third time constant is the same as the time constant of the primary high pass filter, and the fourth time constant is a time constant that can remove a pole of a transfer function from the positional reference to the position of the machinery. ### Claim 6 (depends on 1) The motor controlling device of claim 1, wherein the machinery is comprised of N links (here, N is an integer of two or greater) connected in series to each other and having a multiple mode of vibration, wherein the acceleration feedback signal generator includes N acceleration feedback signal generators in parallel to each other, corresponding to acceleration detection signals from N acceleration sensors attached to tip ends or anti-node parts of the N links, respectively, and wherein the positional reference filter includes N positional reference filters in series to each other, corresponding to the N acceleration feedback signal generators, respectively. ### Claim 7 A method of controlling a motor, performed in a motor controlling device including a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, and a motor drive for driving the motor based on the torque reference, the motor driving machinery, the method comprising the steps of: generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of an acceleration sensor attached to the machinery; and filtering the positional reference to suppress low frequency vibration of the machinery. ### Claim 8 A machinery system, comprising: a motor controlling device including a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, and a motor drive for driving a motor based on the torque reference; a motor driven by the motor controlling device; and machinery driven by the motor, an acceleration sensor attached to the machinery, wherein the motor controlling device further includes: an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor; and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.