Motor control device

A motor control device that controls motion of a control target including a motor and a vibratable element, the motor control device comprising:

• a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target;
• a second generating unit configured to generate a model position and a resonant frequency compensation signal, the model position being obtained by removing an anti-resonant frequency component corresponding to the first parameter from a motion target value, the resonant frequency composition signal being obtained by removing a resonant frequency component corresponding to the first parameter from the motion target value;
• a torque calculating unit configured to generate a model torque by temporarily second-order-differentiate the resonant frequency compensation signal generated by the second generating unit;
• a speed calculating unit configured to generate a model speed by temporarily differentiating the model position generated by the second generating unit;
• and
• a developing unit configured to develop a torque command for the motor according to the model torque calculated by the torque calculating unit such that speed of the control target follows the model speed generated by the speed calculating unit.

A motor control device that controls motion of a control target including a motor and a vibratable element, the motor control device comprising:

• a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target;
• a second generating unit configured to generate a model position obtained by removing an anti-resonant frequency component corresponding to the first parameter from a motion target value;
• a torque calculating unit configured to generate a model torque, based on a first value obtained by temporarily second-order-differentiate the motion target value, a second value obtained by temporarily second-order-differentiate the model position generated by the second generating unit, the anti-resonant frequency component corresponding to the first parameter, and a resonant frequency component corresponding to the first parameter;
• a speed calculating unit configured to generate a model speed by temporarily differentiating the model position generated by the second generating unit;
• and
• a developing unit configured to develop a torque command for the motor according to the model torque calculated by the torque calculating unit, such that speed of the control target follows the model speed generated by the speed calculating unit.