Motor control apparatus with magnetic flux controller and machine learning apparatus and method therefor
AssigneeFanuc Corporation
InventorYuuki Morita
Life of this patent
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Abstract
A machine learning apparatus that learns a condition associated with a gain of a magnetic flux controller and a time constant of a magnetic flux estimator in a motor control apparatus includes: a state observation unit that observes a state variable defined by at least one of data relating to an acceleration of a motor, data relating to a jerk of the motor, and data relating to an acceleration time of the motor; and a learning unit that learns the condition associated with the gain of the magnetic flux controller and the time constant of the magnetic flux estimator in accordance with a training data set defined by the state variable.
Claims9
A motor control apparatus for controlling a motor, the motor control apparatus comprising:
- a motor control unit comprising a magnetic flux controller and a magnetic flux estimator;
- a machine learning apparatus configured to learn a gain of the magnetic flux controller and a time constant of the magnetic flux estimator, the machine learning apparatus comprising:
- a state observation unit configured to observe a state variable defined by at least one of data relating to an acceleration of the motor, data relating to a jerk of the motor, and data relating to an acceleration time of the motor;
- and
- a learning unit configured to learn the gain of the magnetic flux controller and the time constant of the magnetic flux estimator in accordance with a training data set defined by the state variable;
- and
- a decision-making unit configured to determine the gain of the magnetic flux controller and the time constant of the magnetic flux estimator based on a result of learning by the learning unit,
- wherein the motor control unit is configured to, in response to an input speed command, control a current of the motor based on the gain and the time constant determined by the decision-making unit.
A motor control method for controlling a motor by a motor control unit comprising a magnetic flux controller and a magnetic flux estimator, the motor control method comprising:
- observing a state variable defined by at least one of data relating to an acceleration of the motor, data relating to a jerk of the motor, and data relating to an acceleration time of the motor;
- learning a gain of the magnetic flux controller and a time constant of the magnetic flux estimator in accordance with a training data set defined by the state variables;
- determining the gain of the magnetic flux controller and the time constant of the magnetic flux estimator based on a result of said learning;
- and
- controlling the motor based on the gain and the time constant determined by said determining.
Dependencies are inferred from the claim text.