Motor control apparatus
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsWennong Zhang, Hiroshi Nakamura
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Abstract
A motor control apparatus includes a sub-controller including a two-degree-of-freedom repetitive compensator and a shaping filter. The two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of a loop and a feedback delay placed in a feedback route thereof and is configured so that a total delay time provided by the forward delay and the feedback delay is equal to the cycle of a target command or a disturbance. The shaping filter is configured so that the product of the pulse transfer function of the two-degree-of-freedom repetitive compensator and the complementary sensitivity function of a general-purpose control system has a low-pass characteristic.
Claims10
A motor control apparatus comprising:
- a sub-controller configured to receive a first deviation, serving as the difference between a target command and a first control output from a control target, calculate a sub-compensation amount, and output the sub-compensation amount;
- a main controller configured to perform proportional control on the sum of the first deviation and the sub-compensation amount to obtain a first control command, perform proportional-integral control on a second deviation, serving as the difference between the first control command and a second control output from the control target, to obtain a second control command, and output the second control command to the control target;
- and
- a two-degree-of-freedom repetitive compensator including a positive feedback loop based on a total delay sampling number obtained by the sub-controller such that the cycle of the target command is divided by the control cycle of the sub-controller,
- wherein the two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of the positive feedback loop and a feedback delay placed in a feedback route thereof and receives the first deviation and calculates and outputs a repetitive compensation amount.
A motor control apparatus comprising:
- a sub-controller configured to receive a position deviation, serving as the difference between a position command and a motor position from a control target, calculate a sub-compensation amount, and output the sub-compensation amount;
- a main controller configured to perform position proportional control on the sum of the position deviation and the sub-compensation amount to obtain a velocity command, perform velocity proportional-integral control on a velocity deviation, serving as the difference between the velocity command and a motor velocity from the control target, to obtain a torque command, and output the torque command to the control target;
- and
- a two-degree-of-freedom repetitive compensator including a positive feedback loop based on a total delay sampling number obtained by the sub-controller such that the cycle of the position command is divided by the control cycle of the sub-controller,
- wherein the two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of the positive feedback loop and a feedback delay placed in a feedback route thereof and receives the position deviation and calculates and outputs a repetitive compensation amount.
Dependencies are inferred from the claim text.