# US 8,963,474 B2 · Motor control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,963,474 B2 - Document ID: US8963474B2 - Status: Granted - Kind: B2 - Application number: 13/997,823 - Filed: 2011-12-07 - Published: 2013-11-14 - Granted: 2015-02-24 - Earliest claimed: 2011-01-05 - Assignees: Mitsubishi Electric Corporation - Applicants: Kotaro Nagaoka; Shinya Nishino; Toshiaki Kimata; Daisuke Fujino - Inventors: Kotaro Nagaoka; Shinya Nishino; Toshiaki Kimata; Daisuke Fujino - Web page: https://patentgrep.com/patent/US8963474B2 ## CPC - H02P 27/00: Arrangements or methods for the control of AC motors characterised by the kind of supply voltage (of two or more motors H02P5/00; of synchronous motors with electronic commutators H02P6/00; of DC motors H02P7/00; of stepping motors H02P8/00) - G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) - G05B 2219/43146: Control of speed, velocity of movement of tool as function of power of tool - G05B 2219/49092: Vary, change controlled parameter as function of detected power - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A motor control device includes: an acceleration/deceleration processing unit that generates a servo command according to an acceleration/deceleration parameter; a servo control unit that controls a motor drive torque to drive a control target machine motor according to the servo command; a power supply unit that supplies electric power of a predetermined power supply capacity from a commercial power supply to the servo control unit; an electrical storage unit that supplies electric power supplementing the electric power; and an acceleration/deceleration parameter setting unit that computes maximum power that can be used for acceleration/deceleration based on a power storage amount in the electrical storage unit, the power supply capacity, and all energy required for acceleration, computes an acceleration/deceleration parameter that causes electric power at a time of acceleration/deceleration to be equal to or lower than the maximum power, and sets the acceleration/deceleration parameter. ## Claims ### Claim 1 A motor control device comprising: an acceleration/deceleration processing unit that generates a servo command according to an acceleration/deceleration parameter set for an input operation command and outputs the generated servo command; a servo control unit that controls a motor drive torque to drive a motor of a control target machine according to the servo command; a power supply unit that supplies electric power of a predetermined power supply capacity from a commercial power supply to the servo control unit; an electrical storage unit that supplies electric power for supplementing the electric power to be supplied from the power supply unit to the servo control unit, to the servo control unit; and an acceleration/deceleration parameter setting unit that computes maximum power that can be used for acceleration/deceleration based on a power storage amount in the electrical storage unit, the power supply capacity, and all energy required for acceleration, computes an acceleration/deceleration parameter that causes electric power at a time of acceleration/deceleration to be equal to or lower than the maximum power, and sets the acceleration/deceleration parameter in the acceleration/deceleration processing unit. ### Claim 2 (depends on 1) The motor control device according to claim 1, wherein the acceleration/deceleration parameter setting unit computes all energy required for acceleration based on a movement speed designated by the operation command. ### Claim 3 (depends on 1) The motor control unit according to claim 1, wherein a plurality of the servo control units are included, the acceleration/deceleration parameter setting unit sets a plurality of acceleration/deceleration parameters that are required to compute respective servo commands of the servo control units, in the acceleration/deceleration processing unit, and the acceleration/deceleration processing unit performs an acceleration/deceleration process according to the acceleration/deceleration parameters set by the acceleration/deceleration parameter setting unit, and generates respective servo commands for the servo control units. ### Claim 4 A motor control device comprising: an acceleration/deceleration processing unit that generates a servo command according to an acceleration/deceleration parameter set for an input operation command and outputs the generated servo command; a servo control unit that controls a motor drive torque to drive a motor of a control target machine according to the servo command; a power supply unit that supplies electric power from a commercial power supply to the servo control unit and has a function of regenerating electric power of a predetermined regeneration capacity; an electrical storage device that supplies electric power for supplementing the electric power to be supplied from the power supply unit to the servo control unit, to the servo control unit and stores therein regenerative power generated by the motor; and an acceleration/deceleration parameter setting unit that is configured to: compute an upper limit of a magnitude of recoverable regenerative power based on a power storage amount in the electrical storage device, a maximum power storage amount of the electrical storage device, the regeneration capacity, and all energy generated at a time of deceleration; compute an acceleration/deceleration parameter that causes a magnitude of regenerative power at a time of deceleration to be equal to or lower than the upper limit; and set the acceleration/deceleration parameter in the acceleration/deceleration processing unit. ### Claim 5 (depends on 4) The motor control device according to claim 4, wherein the acceleration/deceleration parameter setting unit computes all energy generated at a time of deceleration based on a movement speed designated by the operation command. ### Claim 6 (depends on 4) The motor control unit according to claim 4, wherein a plurality of the servo control units are included, the acceleration/deceleration parameter setting unit sets a plurality of acceleration/deceleration parameters that are required to compute respective servo commands of the servo control units, in the acceleration/deceleration processing unit, and the acceleration/deceleration processing unit performs an acceleration/deceleration process according to the acceleration/deceleration parameters set by the acceleration/deceleration parameter setting unit, and generates respective servo commands for the servo control units.