Motor control device, motor control method, and non-transitory computer readable medium recording a motor control program

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error variation calculation part that calculates an absolute value for variation of the positional error since reversal was detected;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per unit time since reversal was detected;
• a first determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• a second determination part that determines whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error;
• a control unit that calculates a speed command or a torque command from a position command after the backlash correction amount was added;
• and
• a backlash acceleration part that adds a backlash acceleration amount to the speed command or the torque command,
• wherein the backlash correction part starts addition of the backlash correction amount if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and the backlash acceleration part starts addition of the backlash acceleration amount if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error variation calculation part that calculates an absolute value for variation of the positional error since reversal was detected;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per motor rotation angle unit variation since reversal was detected;
• a first determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• a second determination part that determines whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error;
• a control unit that calculates a speed command or a torque command from a position command after the backlash correction amount was added;
• and
• a backlash acceleration part that adds a backlash acceleration amount to the speed command or the torque command,
• wherein the backlash correction part starts addition of the backlash correction amount if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and the backlash acceleration part starts addition of the backlash acceleration amount if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error variation calculation part that calculates an absolute value for variation of the positional error since reversal was detected;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per unit variation of an integrated value of the position command since reversal was detected;
• a first determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• a second determination part that determines whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error;
• a control unit that calculates a speed command or a torque command from a position command after the backlash correction amount was added;
• and
• a backlash acceleration part that adds a backlash acceleration amount to the speed command or the torque command,
• wherein the backlash correction part starts addition of the backlash correction amount if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and the backlash acceleration part starts addition of the backlash acceleration amount if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per unit time since reversal was detected;
• a determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error;
• a control unit that calculates a speed command or a torque command from a position command after the backlash correction amount was added;
• and
• a backlash acceleration part that adds a backlash acceleration amount to the speed command or the torque command,
• wherein the backlash correction part starts addition of the backlash correction amount if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and the backlash acceleration part starts addition of the backlash acceleration amount if the absolute value for the change rate of the positional error is less than a third reference value at the same time as exceeding a second reference value designated in advance.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the variation of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per unit time since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per motor rotation angle unit variation since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the positional error is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per unit variation of an integral value of the position command since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit time since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the change of the positional error is less than a third reference value at the same time as exceeding a second reference value designated in advance.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the variation of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per unit time since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per motor rotation angle unit variation since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the positional error is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• calculating an absolute value for a change rate of the positional error per unit variation of an integral value of the position command since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value that was detected in the step of detecting a first position into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value that was detected in the step of detecting a second position;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit time since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• adding a backlash correction amount to the position command based on the positional error;
• calculating a speed command or a torque command from a position command to which the backlash correction amount was added;
• and
• adding a backlash acceleration amount to the speed command or the torque command,
• wherein addition of the backlash correction amount to the position command is started if the absolute value for the change rate of the positional error exceeds a first reference value designated in advance, and addition of the backlash acceleration amount to the speed command or the torque command is started if the absolute value for the change of the positional error is less than a third reference value at the same time as exceeding a second reference value designated in advance.