Electric motor control device, robot having the same, and method of controlling electric motor
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHaruhiko TAN, Masahiko SUMITOMO, Shota TOMINAGA
Life of this patent
Estimating the term…
Abstract
A control device configured to control operation of an electric motor of which a rotational shaft is rotatable by an external force which servo-controls the electric motor by an inverter circuit when a voltage value between power-supply input terminals of the inverter circuit is detected to be at or above a given voltage value required for the servo-control of the electric motor, and applies dynamic braking to the electric motor by forming a short circuit in the inverter circuit when the voltage value between the power-supply input terminals of the inverter circuit is detected to be below the given voltage value.
Claims13
An electric motor control device configured to control operation of an electric motor of which a rotational shaft is rotatable by an external force, comprising:
- an inverter circuit configured to convert direct-current power into alternating-current power and output the converted alternating-current power to the electric motor;
- a first control circuit configured to control the inverter circuit;
- and
- a first voltage detecting circuit configured to detect a voltage value between power-supply input terminals of the inverter circuit, and output the voltage value between the input terminals to the first control circuit,
- wherein the first control circuit is adapted to:
- servo-control the electric motor by the inverter circuit when the voltage value between the power-supply input terminals of the inverter circuit is detected to be at or above a given voltage value required for the servo-control of the electric motor;
- and
- apply dynamic braking to the electric motor by forming a short circuit in the inverter circuit when the voltage value between the power-supply input terminals of the inverter circuit is detected to be below the given voltage value.
A method of controlling operation of an electric motor of which a rotational shaft is rotatable by an external force,
- wherein an inverter circuit and a first voltage detecting circuit are prepared in advance, the inverter circuit converting direct-current power into alternating-current power and outputting the converted alternating-current power into the electric motor, and the first voltage detecting circuit detecting a voltage value between power-supply input terminals of the inverter circuit,
- the method comprising the steps of:
- servo-controlling the electric motor by the inverter circuit when the voltage value between the power-supply input terminals of the inverter circuit is detected to be at or above a given voltage value required for the servo-control of the electric motor (First Step);
- and
- applying dynamic braking to the electric motor by forming a short circuit in the inverter circuit when the voltage value between the power-supply input terminals of the inverter circuit is detected to be below the given voltage value (Second Step).
Dependencies are inferred from the claim text.