Motor control device and method of controlling motor
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYasufumi YOSHIURA, Yasuhiko KAKU, Shouta KAWAHARA
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Abstract
A motor control device includes output command calculation circuitry and inertial load value calculation circuitry. The output command calculation circuitry is configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor. The inertial load value calculation circuitry is configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.
Claims18
A motor control device comprising:
- output command calculation circuitry configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor;
- and
- inertial load value calculation circuitry configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.
A method of controlling a motor, comprising:
- calculating a motor output command by output command calculation circuitry, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor;
- calculating an estimated inertial load value by an inertial load value calculation circuitry with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor;
- and
- calculating the inertial load value by the inertial load value calculation circuitry, based on the estimated inertial load value.
Dependencies are inferred from the claim text.