Motor controller

An electric motor control device for controlling an electric motor to actuate, through a transmitting mechanism, a movable member of a machine which has the movable member and an immovable member supporting the movable member, said device comprising:

• a servo device responsive to a motion command signal for sending a motion signal corresponding to the motion command signal to said electric motor to control the electric motor;
• a rotation detector for detecting a rotational speed of said electric motor operated by said motion signal;
• a command generator for generating motion command signals for causing the electric motor to rotate in a normal direction and a reverse direction;
• and
• an analyzing device for outputting the motion command signals to said servo device, analyzing frequency characteristics of the machine based on the frequency of said motion command signals and the frequency of a detected rotation signal from said rotation detector, and averaging analytical results from the operation of the electric motor both in the normal direction and in the reverse direction for operating said servo device.

An electric motor control device for controlling an electric motor to actuate, through a transmitting mechanism, a movable member of a machine which has the movable member and an immovable member supporting the movable member, said device comprising:

• a servo device responsive to a motion command signal for sending a motion signal corresponding to the motion command signal to said electric motor to control the electric motor;
• a rotation detector for detecting a rotational speed of said electric motor operated by said motion signal;
• a command generator for generating said motion command signal having low-frequency components of smaller amplitudes and high-frequency components of larger amplitudes;
• and
• an analyzing device for outputting said motion command signal to said servo device and analyzing frequency characteristics of the machine based on the frequency of said motion command signal and a detected rotation signal from said rotation detector to provide an analytical result for operating said servo device.

An electric motor control device having a speed controller for being supplied with a speed command and determining a torque command in order to bring an electric motor speed into conformity with said speed command, a current controller for being supplied with said torque command and energizing an electric motor, and detectors for detecting an electric motor current, an electric motor speed, and a machine load speed, characterized by:

• a parameter α (0≦α≦1) to continuously switch between an integral plus proportional control process and a proportional plus integral control process in a semi-closed speed control process;
• a vibration suppressor for calculating a torsional angular speed from the electric motor speed and the machine load speed and suppressing vibrations using the torsional angular speed;
• and
• a parameter adjustor for simultaneously adjusting parameters of said speed controller and parameters of said vibration suppressor with the parameter α continuously switching between the integral plus proportional control process and the proportional plus integral control process.

An electric motor control device having a speed controller for being supplied with a speed command and determining a torque command in order to bring a machine load speed into conformity with said speed command, a current controller for being supplied with said torque command and energizing an electric motor, and detectors for detecting an electric motor current, an electric motor speed, and the machine load speed, characterized by:

• a parameter α (0≦α≦1) to continuously switch between an integral plus proportional control process and a proportional plus integral control process in a fully closed speed control process;
• a vibration suppressor for calculating a torsional angular velocity from the electric motor speed and the machine load speed and suppressing vibrations using the torsional angular speed;
• and
• a parameter adjustor for simultaneously adjusting parameters of said speed controller and parameters of said vibration suppressor with the parameter α continuously switching between the integral plus proportional control process and the proportional plus integral control process.

A method of controlling an electric motor control device for controlling an electric motor to actuate, through a transmitting mechanism, a movable member of a machine which has the movable member and an immovable member supporting the movable member, said device comprising:

• a servo device responsive to a motion command signal for sending a motion signal corresponding to the motion command signal to said electric motor to control the electric motor;
• a rotation detector for detecting a rotational speed of said electric motor operated by said motion signal;
• a command generator for generating said motion command signal which does not produce an aliasing error upon a frequency analysis and which does not contain unwanted high-frequency components outside of a measured frequency range;
• and
• an analyzing device for outputting the generated motion command signal to said servo device, analyzing frequency characteristics of the machine based on the frequency of said motion command signal and the frequency of a rotation detector signal from said rotation detector, and outputting an analytical result for operating said servo device,
• said method comprising the steps of:
• generating said motion command signal, outputting said motion command signal to said servo device, and calculating frequency characteristics from said motion command signal and a detected signal from said rotation detector;
• determining a resonance frequency and an anti-resonance frequency from said frequency characteristics;
• and
• determining a control parameter from said resonance frequency and said anti-resonance frequency, and adjusting said electric motor control device.

A method of controlling an electric motor control device for controlling an electric motor to actuate, through a transmitting mechanism, a movable member of a machine which has the movable member and an immovable member supporting the movable member, said device comprising:

• a servo device responsive to a motion command signal for sending a motion signal corresponding to the motion command signal to said electric motor to control the electric motor;
• a rotation detector for detecting a rotational speed of said electric motor operated by said motion signal;
• a command generator for generating motion command signals for causing the electric motor to rotate in a normal direction and a reverse direction;
• and
• an analyzing device for outputting the motion command signals to said servo device, analyzing frequency characteristics of the machine based on the frequency of said motion command signals and the frequency of a detected rotation signal from said rotation detector, and averaging analytical results from the operation of the electric motor both in the normal direction and in the reverse direction for operating said servo device,
• said method comprising the steps of:
• generating said motion command signal, outputting said motion command signal to said servo device, and calculating frequency characteristics from said motion command signal and a detected signal from said rotation detector;
• determining a resonance frequency and an anti-resonance frequency from said frequency characteristics;
• and
• determining a control parameter from said resonance frequency and said anti-resonance frequency, and adjusting said electric motor control device.

A method of controlling an electric motor control device for controlling an electric motor to actuate, through a transmitting mechanism, a movable member of a machine which has the movable member and an immovable member supporting the movable member, said device comprising:

• a rotation detector for detecting a rotational speed of said electric motor;
• a servo device responsive to a motion command signal for sending a motion signal corresponding to the motion command signal to said electric motor to control the electric motor;
• a command generator for generating said motion command signal having low-frequency components of smaller amplitudes and high-frequency components of larger amplitudes;
• and
• an analyzing device for outputting said motion command signal to said servo device and analyzing the frequency of said motion command signal and a detected rotation signal from said rotation detector to provide an analytical result for operating said servo device,
• said method comprising the steps of:
• generating said motion command signal, outputting said motion command signal to said servo device, and calculating frequency characteristics from said motion command signal and a detected signal from said rotation detector;
• determining a resonance frequency and an anti-resonance frequency from said frequency characteristics;
• and
• determining a control parameter from said resonance frequency and said anti-resonance frequency, and adjusting said electric motor control device.

A method of controlling an electric motor control device having a speed controller for being supplied with a speed command and determining a torque command in order to bring an electric motor speed into conformity with said speed command, a current controller for being supplied with said torque command and energizing an electric motor, and detectors for detecting an electric motor current, an electric motor speed, and a machine load speed, characterized by:

• a parameter α (0≦α≦1) to continuously switch between an integral plus proportional control process and a proportional plus integral control process in a semi-closed speed control process;
• a vibration suppressor for calculating a torsional angular speed from the electric motor speed and the machine load speed and suppressing vibrations using the torsional angular speed;
• and
• a parameter adjustor for simultaneously adjusting parameters of said speed controller and parameters of said vibration suppressor with the parameter α continuously switching between the integral plus proportional control process and the proportional plus integral control process,
• said method comprising the steps of:
• generating said motion command signal, outputting said motion command signal to said servo device, and calculating frequency characteristics from said motion command signal and a detected signal from said rotation detector;
• determining a resonance frequency and an anti-resonance frequency from said frequency characteristics;
• and
• determining a control parameter from said resonance frequency and said anti-resonance frequency, and adjusting said electric motor control device.

A method of controlling an electric motor control device having a speed controller for being supplied with a speed command and determining a torque command in order to bring a machine load speed into conformity with said speed command, a current controller for being supplied with said torque command and energizing an electric motor, and detectors for detecting an electric motor current, an electric motor speed, and the machine load speed, characterized by:

• a parameter α (0≦α≦1) to continuously switch between an integral plus proportional control process and a proportional plus integral control process in a fully closed speed control process;
• a vibration suppressor for calculating a torsional angular velocity from the electric motor speed and the machine load speed and suppressing vibrations using the torsional angular speed;
• and
• a parameter adjustor for simultaneously adjusting parameters of said speed controller and parameters of said vibration suppressor with the parameter α continuously switching between the integral plus proportional control process and the proportional plus integral control process,
• said method comprising the steps of:
• generating said motion command signal, outputting said motion command signal to said servo device, and calculating frequency characteristics from said motion command signal and a detected signal from said rotation detector;
• determining a resonance frequency and an anti-resonance frequency from said frequency characteristics;
• and
• determining a control parameter from said resonance frequency and said anti-resonance frequency, and adjusting said electric motor control device.