Motor control device

A motor control device comprising:

• a first subtractor that subtracts a speed reference from a speed feedback signal to obtain a speed deviation;
• at speed controller that receives the speed deviation and outputs a first torque reference;
• a phase compensating speed observer that receives the first torque reference directly from the speed controller and a speed of a controlled object including a motor and that outputs the speed feedback signal, the phase compensating speed observer comprising:
• an observer object that serially includes a controlled object model obtained by modeling the controlled object as a rigid body and a delay element model obtained by modeling delay elements of a control system, and that receives the first torque reference from the speed controller as an input to the controlled object model and outputs the speed feedback signal based on an input to the delay element model;
• a second subtractor that subtracts an output of the delay element model from a speed of the controlled object;
• and
• an observer compensator that has a plurality of gains and that multiplies an output of the second subtractor by one of the plurality of gains and adds a result of multiplying to the controlled object model or to the delay element model;
• an inertia moment compensator that receives a second torque reference and the speed of the controlled object, and outputs an estimated disturbance torque;
• and
• a torque reference adder that adds the first torque reference to the estimated disturbance torque, and outputs the sum as the second torque reference, wherein
• the delay element model consists of two integral elements and two subtractors, the two subtractors of the delay element model are respectively provided at input sides of the two integral elements of the delay element model, the output of the delay element model is input into the second subtractor and the two subtract ors of the delay element model.

A motor control device comprising:

• a means for subtracting a speed reference from a speed feedback signal to obtain a speed deviation;
• a means for generating a first torque reference on the basis of the speed deviation;
• and
• a means for receiving the first torque reference directly from the means for generating and a speed of a controlled object including a motor to generate the speed feedback signal on the basis of the first torque reference and the speed of the controlled object, the receiving means comprising:
• a means for receiving the first torque reference from the means for generating as an input to a controlled object model obtained by modeling the controlled object as a rigid body and fir outputting the speed feedback signal based on an input to a delay element model obtained by modeling delay elements of a control system, the controlled object model and the delay element model are connected serially;
• a means for subtracting an output of the delay element model from a speed of the controlled object;
• and
• a means for multiplying an output of the means for subtracting an output of the delay element model by one of a plurality of gains and for adding a result of multiplying to the controlled object model or to the delay element model;
• and wherein
• the delay element model consists of two integral elements and two subtractors, the two subtractors of the delay element model are respectively provided at input sides of the two integral elements of the delay element model, the output of the delay element model is input into the means for subtracting an output of the delay element model and the two subtractors of the delay element model.