Motor control device, motor control method, and non-transitory computer readable medium recording motor control program

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error change-rate calculation part that calculates an absolute value for a change rate per unit time of the positional error since reversal was detected;
• a determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error,
• wherein the backlash correction part adds the backlash correction amount when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per unit variation of motor revolution angle since reversal was detected;
• a determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error,
• wherein the backlash correction part adds the backlash correction amount when the change rate of the positional error exceeds the predetermined reference value.

A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:

• a first position detection part that detects a first position which is a position of the movable part;
• a second position detection part that detects a second position which is a position of the driven part;
• a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part;
• and a second position detected value detected by the second position detection part;
• a position command creation part that creates a position command;
• a reversal detection part that detects reversal of the position command;
• a positional error change-rate calculation part that calculates an absolute value for a change rate of the positional error per unit variation of an integrated value of the position command since reversal was detected;
• a determination part that determines whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• a backlash correction part that adds a backlash correction amount to the position command based on the positional error,
• wherein the backlash correction part adds the backlash correction amount when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the variation of the positional error exceeds the predetermined reference value.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate per unit time of the positional error since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit variation of motor rotation angle since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A method for controlling a motor that corrects for backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the method comprising the steps executed by a computer of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit variation of an integrated value of the position command since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for variation of the positional error since reversal was detected;
• determining whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the variation of the positional error exceeds the predetermined reference value.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate per unit time of the positional error since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit variation of motor rotation angle since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.

A non-transitory computer readable medium recording a motor control program for correcting backlash between a movable part that is driven by a motor and a driven part that is driven by the movable part, the program enabling a computer to execute the steps of:

• detecting a first position which is a position of the movable part;
• detecting a second position which is a position of the driven part;
• calculating a positional error which is a deviation between a converted first position detected value arrived at by converting a first position detected value into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part, and a second position detected value;
• creating a position command;
• detecting reversal of the position command;
• calculating an absolute value for a change rate of the positional error per unit variation of an integrated value of the position command since reversal was detected;
• determining whether the absolute value for the change rate of the positional error has exceeded a predetermined reference value;
• and
• adding a backlash correction amount to the position command based on the positional error, when the absolute value for the change rate of the positional error exceeds the predetermined reference value.