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Motor control device and motor control method

A technology of a control device and a control method, which is applied in the direction of motor control, AC motor control, estimation/correction of motor parameters, etc., can solve the problems of encoder and motor assembly error, encoder resolution performance, etc., and achieve low-cost effects.

Pending Publication Date: 2022-05-13
HITACHI IND EQUIP SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, due to the assembly error between the encoder and the motor, the resolution performance of the encoder itself, the assembly error between the motor and the load at the front end, etc., even if the motor is controlled according to the command value from the servo motor control device, it may be different from the user's intention. The situation of the location

Method used

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  • Motor control device and motor control method
  • Motor control device and motor control method
  • Motor control device and motor control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] exist figure 1 A configuration example of an overall system including a servo motor control device to which the present invention is applied is shown in . The system for position correction includes a servo motor 1 as an object of position measurement, an encoder 2 for acquiring rotational position information of the servo motor 1, and a motor control device 5 such as a servo amplifier for controlling the servo motor (hereinafter simply referred to as "motor") , an absolute position measuring unit 3, an information processing device 6 such as a personal computer installed with a program for measuring and processing an error between the absolute position measuring unit 3 and the servo motor 1, a load 8 driven in accordance with the rotation of the servo motor 1, A connector 7 connecting the servo motor 1 to a load 8 , and a work object 9 attached to the load 8 . The absolute position measuring unit 3 is, for example, a laser length measuring device, and the load 8 is, f...

Embodiment 2

[0066] In Embodiment 2, it is possible to set a plurality of application ranges of error angles. Below, use Figure 9 Be explained.

[0067] Such as Figure 9 When the servo motor is assembled on a load with multiple workranges as shown, the position correction data in the case of Workrange1 is measured from the correction position N(0) to N(x), and then from the correction position N'(0 ) to N'(x) to measure the position correction data in the case of Worlrage2.

[0068] By dividing the section for performing position correction into a plurality of sections in this way, the total amount of data can be reduced, and at the same time, data can be finely collected in necessary sections, and high-precision position correction can be performed.

Embodiment 3

[0070] In the third embodiment, the position correction data when the machine origin position is changed will be described.

[0071] Figure 10A , 10B A method will be described in which the motor control device 5 obtains the position correction data in advance from the information processing device 6 and performs position correction without re-measuring the error angle even when the position of the machine origin is changed.

[0072] Assume that position correction data for performing position correction is generated in the work range Workrange from the correction start position Pstart to the correction end position Pend with the initial machine origin position Homeposition1 as a reference.

[0073]At this time, the determination of whether the position correction process is implemented or not is performed, as shown in equations (3) and (4), to determine whether the position command Pref takes the initial mechanical origin position Homeposition1 as the reference position, an...

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PUM

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Abstract

A motor control device for supplying power to a motor according to the present invention has a storage unit for storing position correction data and information on a mechanical origin position of the motor, and generates a corrected position command using an externally input position command and the position correction data. The electric power to be supplied to the motor is converted on the basis of the corrected position command and the position information input from the encoder, the position correction data being data in which a correction position and a correction amount are recorded in association with each other, the start position of the correction position being different from the machine origin position.

Description

technical field [0001] The present invention relates to a motor control device and a motor control method. In particular, it relates to a motor control device and a motor control method for controlling a motor using position information from an encoder. Background technique [0002] Servo motors are used, for example, to drive robots, metal processing machines, semiconductor manufacturing equipment, etc., and are required to operate more freely than normal motors. In particular, regarding rotational speed, torque, and positioning, it is required to follow user's instructions with high precision. Generally, a servo motor is provided with an encoder for monitoring the position of the motor, and the motor control device controls the position of the motor using position information from the encoder. [0003] However, due to the assembly error between the encoder and the motor, the resolution performance of the encoder itself, the assembly error between the motor and the load a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00H02P23/14H02P29/00
CPCH02P29/00H02P23/0004H02P23/14H02P2203/03H02P6/16G05B2219/33218G05B19/404
Inventor 上井雄介近藤辉朋高野裕理梁田哲男高田英人
Owner HITACHI IND EQUIP SYST CO LTD
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