Motor control device

A motor control device that controls a first motor coupled to a first load machine in a first control target and that controls a second motor coupled to a second load machine in a second control target, the motor control device comprising:

• a first detector to detect a position of the first motor;
• a second detector to detect a position of the second motor;
• a trajectory command generator to output a first position command that is a position command for the first control target and a second position command that is a position command for the second control target;
• a first response corrector to carry out a calculation to apply a first response-correction filter to the first position command from the trajectory command generator so as to output a corrected first position command;
• a first position controller to receive the corrected first position command from the first response corrector and the position detected by the first detector so as to generate a first torque command such that the position detected by the first detector matches the corrected first position command;
• a second response corrector to carry out a calculation to apply a second response-correction filter to the second position command from the trajectory command generator so as to output a corrected second position command;
• a second position controller to receive the corrected second position command from the second response corrector and the position detected by the second detector so as to generate a second torque command such that the position detected by the second detector matches the corrected second position command;
• a measuring instrument of the first load machine that detects machine end displacement of the first load machine in the first control target;
• a measuring instrument of the second load machine that detects machine end displacement of the second load machine in the second control target;
• a frequency-response display unit that displays frequency characteristics on the basis of the first torque command and machine end displacement of the first load machine detected by the measuring instrument of the first load machine or on the basis of the first position command and the first machine end displacement of the first load machine detected by the measuring instrument of the first load machine, and on the basis of the second torque command and the machine end displacement of the second load machine detected by the measuring instrument of the second load machine or on the basis of the second position command and the machine end displacement of the second load machine detected by the measuring instrument of the second load machine;
• a first monitor of the frequency-response display unit
• to calculate first frequency characteristics from the first torque command to the first machine end displacement of the first load machine on the basis of the first torque command and the first machine end displacement of the first load machine or on the basis of the first position command and the machine end displacement of the first load machine, and
• to display the first frequency characteristics and frequency characteristics of a first simplified model in which the first frequency characteristics are expressed simply by a transfer function;
• a second monitor of the frequency-response display unit
• to calculate second frequency characteristics from the second torque command to the second machine end displacement of the second load machine on the basis of the second torque command and the machine end displacement of the second load machine or on the basis of the second position command and the machine end displacement of the second load machine, and
• to display the second frequency characteristics and frequency characteristics of a second simplified model in which the second frequency characteristics are expressed simply by a transfer function;
• a user input device of the frequency-response display unit that performs setting change in a graphical form of the frequency characteristics of the first simplified model displayed on the first monitor of the frequency-response display unit and the frequency characteristics of the second simplified model displayed on the second monitor of the frequency-response display unit;
• and
• a response-correction-parameter determiner to set the first response-correction filter of the first-response corrector and the second response-correction filter of the second-response corrector, by using information of the transfer function of the first simplified model acquired by the first monitor of the frequency-response display unit and information of the transfer function of the second simplified model acquired by the second monitor of the frequency-response display unit.