Motor controller
AssigneeKabushiki Kaisha Yaskawa Denki
InventorYasuyuki Takei
Life of this patent
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Abstract
A motor controller supplies power to a motor and drives the motor, the motor including a position detector. The motor controller includes a velocity control unit which generates a torque instruction by using a velocity instruction and a velocity signal; a correction processing unit which Fourier-transforms the torque instruction, extracts first-, second-, and sixth-order frequency components from the Fourier-transformed torque instruction, extracts an order component having the largest spectrum from the extracted order components, and generates a sine wave correction signal; an adder which adds the sine wave correction signal to the torque instruction, and generates a new torque instruction; and a position-signal generation unit which generates a position signal by using a position detection signal of the position detector.
Claims5
A motor controller to drive a motor including a position detector, the motor controller comprising:
- a position-signal generation unit configured to generate a position signal based on a position detection signal detected by the position detector;
- a velocity control unit which generates a torque instruction by using a velocity instruction and a velocity signal;
- an electrical-angle generation unit configured to generate an electrical angle by using the position detection signal;
- a trace unit configured to store the torque instruction and the electrical angle for a given period;
- a Fourier transform unit configured to Fourier-transform the stored torque instruction and configured to extract only a first- and a second-order frequency components caused by the motor controller and a sixth-order frequency component caused by the motor among frequency components including in the Fourier-transformed torque instruction;
- an order-component extraction unit configured to extract an order component having a largest spectrum from the first-, second-, and sixth-order frequency components extracted by the Fourier transform unit;
- a correction-signal generation unit configured to generate a sine wave correction signal by inverse-Fourier-transforming the torque instruction of the order component extracted by the order-component extraction unit;
- an adder which adds the sine wave correction signal to the torque instruction, and generates a new torque instruction;
- a motor drive unit configured to supply power to a motor based on the new torque instruction;
- and
- a first sine-wave-correction-signal storage unit configured to store the sine wave correction signals generated by inverse-Fourier-transforming the torque instruction of each of the first- and the second-order frequency components and configured to store the sine wave correction signals generated by inverse-Fourier-transforming the torque instruction of the sixth-order frequency component.
Dependencies are inferred from the claim text.