Electric motor controller
A technology for a control device and a motor, which is used in motor control, single motor speed/torque control, control system, etc., and can solve problems such as failure to fully suppress disturbance, failure to fully suppress equipment vibration, and frame shaking.
Active Publication Date: 2015-02-25
SANYO DENKI CO LTD
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Problems solved by technology
However, if the conventional motor control device is used for high-speed machining, there is a problem that the machine base shakes due to the rigidity of the adjustment bolts, and vibration occurs between the table and the machine base, which reduces the machining accuracy.
Therefore, when the integral gain is high, the effect of the peak filter is reduced, and there is a problem that the disturbance cannot be sufficiently suppressed.
Therefore, even if the peak filter described in Non-Patent Document 1 is directly applied to the suppression of working equipment, the vibration of the equipment cannot be sufficiently suppressed
Method used
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[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. figure 1It is a block diagram showing the structure of the motor control device 1 of the present invention that implements the motor control method of the present invention. A motor control device 1 according to the present embodiment includes a speed detector 2 , an encoder 3 constituting a position detector, a speed controller 4 , a position controller 5 , a torque controller 6 , and a peak filter 7 . In this embodiment, the Figure 5 The mechanical system that drives the worktable through the ball screw is shown as the control object. Therefore, the motor M is provided on the frame. The speed detector 2 detects the rotational speed of the rotor of the electric motor M based on the output from the encoder 3 and outputs the rotational speed. The encoder 3 constituting a position detector detects the rotational position of the rotor of the motor M. As shown i...
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The invention relates to an electric motor controller capable of suppressing the vibrating of a control object and controlling the control object with high speed and high precision without a special sensor. The electric motor controller (1) comprises a speed detector (2), an encoder (3) forming a position detector, a speed controller (4), a position controller (5), a torque controller (6), and a peak value filter (7). The peak value filter (7) determines a transferring function via the following mode, namely, amplifying an anti-resonance frequency component in a machine base vibration generated between the machine base equipped with the electric motor and the control object, and forming the control object to be a rigid body system not containing the anti-resonance characteristic in the frequency of the anti-resonance frequency component.
Description
technical field [0001] The present invention relates to a control device for a motor, and more particularly to a control device for a motor for controlling a trajectory of a position with high precision, such as working equipment. Background technique [0002] like Figure 5 As shown, in processing equipment such as working equipment, a motor is fixed to a machine base supported by leveling bolts or the like. The electric motor rotates the ball screw, which drives the table. A main shaft for driving an end mill or the like is formed on the base. Therefore, the relative positional accuracy between the machine base and the worktable is expressed as machining accuracy. The control unit of the electric motor has for example Figure 6 Structure. A known motor control device inputs a deviation between a position command and a position of a mover of the motor to a position controller 5 . The position controller 5 outputs a speed command. In addition, a deviation between a spe...
Claims
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IPC IPC(8): H02P6/08H02P29/00
Inventor 井出勇治平田光男坂田祐寿
Owner SANYO DENKI CO LTD