Motor controlling device, motor controlling method and machinery system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYasufumi Yoshiura, Yasuhiko Kaku
Life of this patent
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Abstract
A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.
Claims7
A motor controlling device comprising:
- a position controller to generate a speed reference based on a positional reference and a motor position;
- a speed controller to generate a torque reference based on the speed reference and a motor speed;
- a motor drive to drive a motor based on the torque reference, the motor being to drive machinery to which an acceleration sensor is attached;
- an acceleration feedback signal generator to generate a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, the acceleration feedback signal generator including a primary low pass filter and a primary high pass filter arranged in series to the primary low pass filter;
- and
- a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery, the positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function.
A method of controlling a motor, performed in a motor controlling device including a position controller to generate a speed reference based on a positional reference and a motor position, a speed controller to generate a torque reference based on the speed reference and a motor speed, a motor drive to drive the motor based on the torque reference, the motor being to drive machinery, a primary low pass filter, and a primary high pass filter arranged in series to the primary low pass filter, the method comprising:
- generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of an acceleration sensor attached to the machinery;
- and
- filtering the positional reference to suppress low frequency vibration of the machinery using a positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function.
A machinery system comprising:
- a motor;
- machinery driven by the motor, an acceleration sensor attached to the machinery,
- a motor controlling device comprising:
- a position controller to generate a speed reference based on a positional reference and a motor position;
- a speed controller to generate a torque reference based on the speed reference and a motor speed;
- a motor drive to drive the motor based on the torque reference;
- an acceleration feedback signal generator to generate a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, the acceleration feedback signal generator including a primary low pass filter and a primary high pass filter arranged in series to the primary low pass filter;
- and
- a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery, the positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function.
Dependencies are inferred from the claim text.