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Motor control device

A motor control and motor technology, applied in the control system, adaptive control, motor control, etc., can solve the problems of increased computing time and reduced computing accuracy, and achieve high-speed positioning and effective control effects

Inactive Publication Date: 2015-02-18
SANYO DENKI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, responding to excessive torque will reduce the calculation accuracy and increase the calculation time, so it is desirable to suppress the response to excessive torque as much as possible.

Method used

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Examples

Experimental program
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Effect test

Embodiment Construction

[0042] An example of an embodiment of the motor control device of the present invention will be described in detail with reference to the drawings. exist figure 1 In the present embodiment shown, in the motor control device using the model control system 1 and the feedback control system 2, the motor-side model acceleration command S14 and the machine-side model acceleration command The deviation of S15 is the model-side acceleration deviation command S18, and the deviation of the model motor-side speed signal S7 and the model load-side speed command S16 is the model-side speed deviation command S19 for state feedback. And, by applying modern control theory, the parameters of the model control system are determined in such a way that the control system is stable and does not generate vibration.

[0043] Specifically, in the motor control device, the model control system 1 includes a first deviation calculation unit 3, a model position controller 4, a second deviation calcula...

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Abstract

The invention provides a motor control device, which can simply adjust a parameter of a model control system, and realize vibration-free positioning at high speed, since torque instructions output from the model speed controller are not too large. The model speed control system (1) is provided with: a first inertia system mechanical model for a motor; a second inertia system mechanical model for a load; a torque and torque model for a motor and a load; a feedback accelerated speed instruction (S10) is sent to a first state feedback system of a model torque instruction part (8); and the state of a feedback speed instruction (S5) is sent to a second state feedback system of a model speed instruction part (5). A parameter relation formula is obtained via calculation according to a mode of four repeated roots of a characteristic equation obtained from a state equation of the model control system, and a parameter of the model control system is determined.

Description

technical field [0001] The present invention relates to a motor control device for driving a machine such as a robot to perform positioning at high speed. Background technique [0002] One method of positioning a machine at high speed with a motor control device is model following control. Model following control is a control method that constructs a model control system that simulates an actual control system, and drives a feedback control system to follow the model control system. image 3 The structure of the motor control apparatus using the conventional model following control shown in Unexamined-Japanese-Patent No. 62-217304 (patent document 1) is shown. In the existing device, the deviation between the position command and the model position is obtained, and the model speed command is output through the model position controller. Obtain the deviation between the model speed command and the model speed, and output a model torque (torque) command through the model spee...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00G05B13/02G05B13/04
Inventor 井出勇治
Owner SANYO DENKI CO LTD