# US 2022/0034969 A1 · Motor Control System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0034969 A1 - Document ID: US20220034969A1 - Status: Published application - Kind: A1 - Application number: 17/388,461 - Filed: 2021-07-29 - Published: 2022-02-03 - Earliest claimed: 2020-08-03 - Assignees: Rohm Co., Ltd. - Applicants: Rohm Co., Ltd. - Inventors: Naoyuki Usagawa; Takashi Esumi; Tatsuro SHIMIZU - Web page: https://patentgrep.com/patent/US20220034969A1 ## CPC - G01R 31/343: {in operation} - H02P 29/024: Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load - G01R 23/02: Arrangements for measuring frequency, e.g. pulse repetition rate; Arrangements for measuring period of current or voltage - G01R 23/04: adapted for measuring in circuits having distributed constants - G01R 27/32: in circuits having distributed constants {, e.g. having very long conductors or involving high frequencies} - H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract The present disclosure relates to a motor control system including: a motor control device, including a semiconductor integrated circuit having a memory and forming a control loop for a motor so as to control a drive of the motor; and an external debug device, externally connected to the motor control device and accessible to the memory in the motor control device. The external debug device includes a disturbance signal superimposer and a frequency characteristics deriver. The interference signal superimposer generates a disturbance signal for the control loop and superimposes the disturbance signal on a signal generated in the control loop. The frequency characteristics deriver derives frequency characteristics of the control loop based on the signal generated in the control loop by superimposition. ## Claims ### Claim 1 A motor control system, comprising: a motor control device, including a semiconductor integrated circuit having a memory and forming a control loop for a motor to control a drive of the motor; and an external debug device, externally connected to the motor control device and accessible to the memory in the motor control device, wherein the external debug device includes: a disturbance signal superimposer, configured to generate a disturbance signal for the control loop and superimposing the disturbance signal on a signal generated in the control loop; and a frequency characteristic deriver, configured to derive frequency characteristics of the control loop based on the signal generated in the control loop by superimposition. ### Claim 2 (depends on 1) The motor control system of claim 1, wherein the external debug device further includes: a debugger including an external signal output unit and externally connected to the motor control device; and a computing device including the frequency characteristic deriver, wherein the debugger is arranged between the computing device and the motor control device and wherein under the instruction of the computing device, the disturbance signal is superimposed and the signal generated in the control loop by superimposition is transmitted from the motor control device to the computing device via the debugger. ### Claim 3 (depends on 1) The motor control system of claim 1, wherein the external debug device further includes a display that displays a Bode plot as a diagram showing the frequency characteristics. ### Claim 4 (depends on 2) The motor control system of claim 2, wherein the external debug device further includes a display that displays a Bode plot as a diagram showing the frequency characteristics. ### Claim 5 (depends on 1) The motor control system of claim 1, wherein the frequency characteristics are derived by the frequency characteristic deriver while the drive of the motor is continually controlled by the motor control device when the disturbance signal is superimposed starting from a state in which the motor control device controls the drive of the motor without superimposing the disturbance signal. ### Claim 6 (depends on 2) The motor control system of claim 2, wherein the frequency characteristics are derived by the frequency characteristic deriver while the drive of the motor is continually controlled by the motor control device when the disturbance signal is superimposed starting from a state in which the motor control device controls the drive of the motor without superimposing the disturbance signal. ### Claim 7 (depends on 3) The motor control system of claim 3, wherein the frequency characteristics are derived by the frequency characteristic deriver while the drive of the motor is continually controlled by the motor control device when the disturbance signal is superimposed starting from a state in which the motor control device controls the drive of the motor without superimposing the disturbance signal. ### Claim 8 (depends on 1) The motor control system of claim 1, wherein the external debug device monitors another signal in the motor control device while the frequency characteristics are derived by superimposing the disturbance signal, the another signal being a signal different from the signal referred to by the frequency characteristic deriver for deriving the frequency characteristics. ### Claim 9 (depends on 2) The motor control system of claim 2, wherein the external debug device monitors an another signal in the motor control device while the frequency characteristics are derived by superimposing the disturbance signal, the another signal being a signal different from the signal referred to by the frequency characteristic deriver for deriving the frequency characteristics. ### Claim 10 (depends on 3) The motor control system of claim 3, wherein the external debug device monitors an another signal in the motor control device while the frequency characteristics are derived by superimposing the disturbance signal, the another signal being a signal different from the signal referred to by the frequency characteristic deriver for deriving the frequency characteristics. ### Claim 11 (depends on 5) The motor control system of claim 5, wherein the external debug device monitors an another signal in the motor control device while the frequency characteristics are derived by superimposing the disturbance signal, the another signal being a signal different from the signal referred to by the frequency characteristic deriver for deriving the frequency characteristics. ### Claim 12 (depends on 1) The motor control system of claim 1, wherein the external debug device further includes a transfer function estimator that estimates a transfer function of the control loop based on the derived frequency characteristics. ### Claim 13 (depends on 2) The motor control system of claim 2, wherein the external debug device further includes a transfer function estimator that estimates a transfer function of the control loop based on the derived frequency characteristics. ### Claim 14 (depends on 3) The motor control system of claim 3, wherein the external debug device further includes a transfer function estimator that estimates a transfer function of the control loop based on the derived frequency characteristics. ### Claim 15 (depends on 5) The motor control system of claim 5, wherein the external debug device further includes a transfer function estimator that estimates a transfer function of the control loop based on the derived frequency characteristics. ### Claim 16 (depends on 8) The motor control system of claim 8, wherein the external debug device further includes a transfer function estimator that estimates a transfer function of the control loop based on the derived frequency characteristics. ### Claim 17 (depends on 12) The motor control system of claim 12, wherein the external debug device further includes a gain adjustor adjusting the gain of the control loop based on the estimated transfer function. ### Claim 18 (depends on 1) The motor control system of claim 1, wherein the motor control device controls the speed to match or approach the rotation speed of the motor with respect to a speed command in the control loop, and wherein the external signal output unit superimposes the disturbance signal on the speed command. ### Claim 19 (depends on 1) The motor control system of claim 1, wherein the disturbance signal superimposer generates a digital noise including signal components of each frequency within a predetermined band as the disturbance signal.