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motor control unit

A control device and motor technology, applied in the direction of motor control, program control, control system, etc., to achieve the effect of improving the accuracy of estimation

Active Publication Date: 2015-09-09
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, depending on the controlled object being driven, the residual vibration generated during the positioning drive setting may be a waveform in which two or more vibration frequencies are superimposed.

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0036] figure 1 It is a block diagram showing a schematic configuration of the motor control device according to Embodiment 1 of the present invention. exist figure 1 In the control object 1, a motor 11, a mechanical system 12 connected thereto, and a position detector 13 for detecting the position of the motor 11 are provided. In addition, an encoder, a linear scale, or the like can be used as the position detector 13 .

[0037] In addition, the motor 11 passes through according to the drive instruction T * The mechanical system 12 is driven by a driving force of rotation or linear motion, and the position detector 13 detects the position of the motor 11 to output a position signal Xm.

[0038] On the other hand, the motor control device can drive the motor 11 while performing vibration damping control for N (N is an integer equal to or greater than 2) vibration damping frequencies. In addition, the resonance characteristic of the control system can be estimated from the ...

Embodiment approach 2

[0121] Figure 8 It is a block diagram showing a schematic configuration of a motor control device according to Embodiment 2 of the present invention. exist Figure 8 In the control object 1, a motor 11, a mechanical system 12 connected thereto, and a position detector 13 for detecting the position of the motor are provided. In addition, similarly to the motor control device of Embodiment 1, based on the position command signal X * The drive command T computed by the feedforward control unit 2 and the feedback control unit 3 * The control object 1 is driven, and the position detector 13 outputs a position signal Xm indicating the position of the motor 11 .

[0122] In order to remove components other than the vibration caused by the resonance characteristics of the control system of the controlled object 1, the subtracter 6 subtracts the vibration damping position command signal Xr from the position signal Xm to output a vibration signal Xe.

[0123] Then, the estimation s...

Embodiment approach 3

[0160] Figure 11 It is a block diagram showing a schematic configuration of a motor control device according to Embodiment 3 of the present invention. exist Figure 11 In this motor control device, the signal calculation unit 5 for estimation in the motor control device according to Embodiment 1 is changed to a signal calculation unit 5 b for estimation. The other components have functions equivalent to those of the motor control device according to the first embodiment.

[0161] Figure 12 is shown with Figure 11 A block diagram of a configuration related to the estimation of the resonance characteristics of the control system in the motor control device. exist Figure 12 Among them, the estimation signal calculation unit 5b has an estimation signal calculation unit 51b, and in order to remove the influence of noise and offset from the vibration signal Xe, the estimation signal calculation unit 51b is attenuated by a high-pass filter, a band-pass filter, etc. to 0.2 or...

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PUM

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Abstract

A motor control device includes a vibration-damping-control setting unit to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit to output, based on an operation signal related to a controlled object, a signal for estimation in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit to estimate one resonance frequency from the output signal for estimation. The vibration-damping-control setting unit designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit, each of resonance frequencies estimated by the resonance-characteristic estimating unit related to the individually designated each one candidate frequency.

Description

technical field [0001] The present invention relates to a motor control device for driving a control object including a motor and a mechanical system connected to the motor. Background technique [0002] In a motor control device, when positioning driving is performed on a control object with low rigidity, residual vibration may occur during setting due to mechanical resonance or the like. In such a case, the feedforward control unit calculates the feedforward signal so that the signal component of the vibration frequency of the controlled object becomes smaller with respect to the operation command, and uses the feedforward signal for control to suppress the occurrence of vibrations in the controlled object. Damping control of residual vibrations. In order to perform such vibration damping control, it is necessary to set the parameters of the feedforward control according to the vibration frequency and the damping coefficient including the resonance characteristics of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00
CPCG05B19/404G05B2219/41166G05B2219/41222H02P29/0038H02P29/50Y02P90/02
Inventor 关口裕幸池田英俊磯田隆司佐野修也
Owner MITSUBISHI ELECTRIC CORP