US 7,345,443 B2 · Motor control apparatus

Abstract

It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio. In a motor control apparatus including a position detecting portion (1B) of a motor (18) for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion (1C), a position control portion (15) for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion (16) for inputting a difference between the speed reference and a speed of the motor, a torque control portion (17) for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion (13) for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion (14) for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion (13) and the phase compensating portion (14).

Claims23

Dependent claims

A motor control apparatus comprising:

a position detecting portion for detecting a position of a motor for driving a mechanism a moment of inertia or an inertia mass of which is unknown,
a speed calculating portion for outputting a speed of the motor by inputting an output of the position detecting portion,
a position control portion for outputting a speed reference by inputting a difference between a position reference and the position of the motor,
an inertia variation restraining portion for outputting a new torque reference by predicting a disturbance of the motor by inputting a torque reference and the speed of the motor,
a torque control portion for controlling a torque of the motor by inputting the new torque reference,
a phase compensating portion for outputting a new speed reference of advancing a phase by inputting the speed reference, and
a speed control portion for outputting the torque reference by inputting a difference between the new speed reference and the speed of the motor.

4 more elements

A motor control apparatus comprising:

a position detecting portion for detecting a position of a motor for driving a mechanism a moment of inertia or an inertia mass of which is unknown,
a speed calculating portion for outputting a speed of the motor by inputting an output of the position detecting portion,
a position control portion for outputting a speed reference by inputting a difference between a position reference and the position of the motor,
a speed feed forward portion for outputting a speed feed forward signal by inputting the position reference,
an inertia variation restraining portion for outputting a new torque reference by predicting a disturbance of the motor by inputting a torque reference and the speed of the motor,
a torque control portion for controlling a torque of the motor by inputting the new torque reference,
a phase compensating portion for outputting a new speed reference advancing a phase by inputting a sum of the speed reference and the speed feed forward signal, and
a speed control portion for outputting the torque reference by inputting a difference between the new speed reference and the speed of the motor.

5 more elements

A motor control apparatus comprising:

a position detecting portion for detecting a position of a motor for driving a mechanism a moment of inertia or an inertia mass of which is unknown,
a speed calculating portion for outputting a speed of the motor by inputting an output of the position detecting portion,
a position control portion for outputting a speed reference by inputting a difference between a position reference and the position of the motor,
a speed feed forward portion for outputting a speed forward signal by inputting the position reference,
a torque feed forward portion for outputting a torque feed forward signal by inputting the position reference,
an inertia variation restraining portion for outputting a new torque reference by predicting a disturbance of the motor by inputting a sum of a torque reference and the torque feed forward signal and the speed of the motor,
a torque control portion for controlling a torque of the motor by inputting a new torque reference,
a phase compensating portion for outputting a new speed reference advancing a phase by inputting a sum of the speed reference and the speed forward signal, and
a speed control portion for outputting the torque reference by inputting a difference between the new speed reference and the speed of the motor.

6 more elements

Dependencies are inferred from the claim text.

Motor control apparatus

Life of this patent

Motor control apparatus

Life of this patent

Abstract

Claims23