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Electric motor controller comprising function for simultaneously estimating inertia, friction, and spring

A technology for control devices and electric motors, applied in electric motor control, electronic commutation electric motor control, current controller, etc., can solve problems such as inability to estimate nonlinear friction

Active Publication Date: 2013-01-30
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The friction estimated by the technology disclosed in this patent document is linear, and there is a problem that nonlinear friction cannot be estimated.

Method used

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  • Electric motor controller comprising function for simultaneously estimating inertia, friction, and spring
  • Electric motor controller comprising function for simultaneously estimating inertia, friction, and spring
  • Electric motor controller comprising function for simultaneously estimating inertia, friction, and spring

Examples

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Embodiment Construction

[0025] figure 1 It is a block diagram showing the structure of the control system.

[0026] Objects controlled by the control device of the present invention, such as figure 1 Shown is the electric motor 2 that directly operates the driven body 4. The motor 2 is used, for example, in a machine tool or an industrial machine as a drive source for changing the position or posture of a worktable holding a workpiece, or as a drive source for rotationally driving the arm of a robot.

[0027] The motor 2 and the driven body 4 are coupled by a coupling shaft 6. The coupling shaft 6 has elastic resonance characteristics. For example, it is a mechanism composed of a ball screw and a nut that converts rotational motion into linear motion, and also includes a speed reducer. The control object 1 including the driven body 4 includes, for example, a table or robot arm that holds a workpiece in a machine tool or industrial machine, or a workpiece that is loaded and unloaded on the table or arm, a...

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PUM

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Abstract

The invention provides an electric motor controller comprising functions for simultaneously estimating inertia, friction, and spring. A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

Description

Technical field [0001] The present invention relates to a motor control device that uses a motor to drive and control a driven body of a machine tool or an industrial machine, and more particularly, to a motor control device that has the function of simultaneously estimating the inertia, friction, and elasticity of the driven body. Background technique [0002] Understanding the magnitude of the inertia and friction of the driven body driven by the motor is very important in determining the machining conditions of machine tools and the like, and in controlling the drive shaft that drives the driven body with high precision. [0003] For example, as processing conditions, when determining the commanded acceleration and deceleration time constant, in order to fully utilize the acceleration capability of the motor, it is necessary to accurately understand the magnitude of inertia and friction. In addition, in control, in order to calculate the gain for determining the responsiveness o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/14H02P29/00G05D3/12
CPCG05D3/12H02P6/002H02P23/14G05B13/04H02P21/143H02P21/148G05B13/0205H02P6/28H02P21/20
Inventor 园田直人丰泽雪雄
Owner FANUC LTD
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