Motor selection device and motor selection method

Abstract

The present invention relates to a motor selection device and a motor selection method for selecting an appropriate motor. The motor selection device (10) comprises: a speed calculation unit (16) for calculating an average speed based on a speed waveform of a motor driving a predetermined driving object when a predetermined driving object is made to perform a predetermined action; a current calculation unit (18) for calculating a root mean square current based on a current waveform of a motor driving a driving object when the driving object is made to perform a predetermined action; a storage unit (22) for storing a motor characteristic corresponding to a speed of a target motor as a selected object; and a judgment unit (24) for judging whether the target motor can perform the predetermined action using the motor characteristic corresponding to the average speed and the root mean square current.

Description

Technical Field

[0001] The present invention relates to a motor selection device and a motor selection method for selecting an appropriate motor. Background Art

[0002] As described in Japanese Patent Application Laid-Open No. 2018-153045, in a conventional motor selection device, whether or not motor selection can be performed is determined by determining whether the root mean square torque during execution of an action mode is less than the rated torque of the motor. Summary of the invention

[0003] However, in the technology of Japanese Patent Publication No. 2018-153045, the speed waveform is used to obtain the root mean square torque, and the ineffective current component in the current flowing through the motor is not considered. On the other hand, the rated torque is the torque measured by actually driving the motor, which includes the influence of the ineffective current component. In the comparison between the two, the ineffective current component is not properly handled, and the determination accuracy is inaccurate.

[0004] Therefore, an object of the present invention is to provide a motor selection device and a motor selection method capable of selecting a motor in consideration of a reactive current component flowing through a motor.

[0005] The first embodiment of the present invention provides a motor selection device, comprising: a speed calculation unit, which calculates an average speed based on a speed waveform of a motor that drives a predetermined drive object when the drive object is caused to perform a prescribed action; a current calculation unit, which calculates a root mean square current based on a current waveform of the motor that drives the drive object when the drive object is caused to perform the prescribed action; a storage unit, which stores motor characteristics corresponding to the speed of the object motor as a selected object; and a judgment unit, which uses the motor characteristics corresponding to the average speed and the root mean square current to judge whether the object motor can perform the prescribed action.

[0006] A second embodiment of the present invention provides a motor selection method for a motor selection device, wherein the motor selection device has a storage unit, wherein the storage unit stores a motor characteristic corresponding to a speed of an object motor as a selected object, and the motor selection method comprises: a speed calculation step of calculating an average speed based on a speed waveform of a motor that drives the drive object when causing a predetermined drive object to perform a prescribed action; a current calculation step of calculating a root mean square current based on a current waveform of the motor that drives the drive object when causing the drive object to perform the prescribed action; and a judgment step of using the motor characteristic corresponding to the average speed and the root mean square current to judge whether the object motor can perform the prescribed action.

[0007] According to the present invention, it is possible to select a motor in consideration of the reactive current component flowing through the motor.

[0008] The above objects, features and advantages will be easily understood from the following description of the embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic structural diagram of a motor selection device in an embodiment.

[0010] Figure 2 A diagram showing an operation pattern of a driven object determined according to an operation condition.

[0011] Figure 3 FIG. 4 is a diagram showing a speed waveform of a driven object obtained by simulation.

[0012] Figure 4 A diagram showing a torque waveform of a motor obtained through simulation.

[0013] Figure 5 A diagram showing a motor current waveform obtained through simulation.

[0014] Figure 6 This is a graph showing the rated current corresponding to the speed of the target motor.

[0015] Figure 7 This is a flowchart for explaining the motor selection method in the embodiment.

[0016] Figure 8 This is a schematic structural diagram of the motor selection device in Variation 1.

[0017] Fig. 9 : is a graph showing the rated torque corresponding to the speed of the target motor in Modification 1.

[0018] Fig.10 This is a flowchart for explaining the motor selection method in Modification 1.

[0019] Fig.11 This is a schematic structural diagram of the motor selection device in Variation 2. DETAILED DESCRIPTION

[0020] The motor selection device and the motor selection method of the present invention will be described in detail below with reference to the accompanying drawings, with reference to preferred embodiments thereof.

[0021] [Implementation Method]

[0022] Figure 1The motor selection device 10 is a schematic diagram of the motor selection device 10 in the embodiment. The motor selection device 10 is a device for assisting the motor selection by showing the user whether the motor to be selected satisfies the performance required for driving the predetermined driving object when the predetermined driving object is made to perform a predetermined action.

[0023] The motor selection device 10 includes a condition acquisition unit 12, a simulation unit 14, a speed calculation unit 16, a current calculation unit 18, a storage unit 22, a determination unit 24, and an output unit 26. The motor selection device 10 includes a processor such as a CPU and a memory, and executes a program stored in the memory to function as the motor selection device 10 of the present embodiment. A display unit 28 is provided outside the motor selection device 10, and the display unit 28 displays output results from the simulation unit 14 and the output unit 26. In addition, the display unit 28 may also be a part of the motor selection device 10.

[0024] The condition acquisition unit 12 acquires the mechanical conditions of the driving object (not shown) driven by the motor (not shown) and the action conditions representing the prescribed action mode input by the user. The driving object is all the driving components driven by the motor. A ball screw mechanism is provided at the front of the motor, and the rotational movement of the motor causes a workbench provided with a nut to move linearly. Therefore, the driving components include a ball screw, a nut, a workbench, a workpiece mounted on the workbench, and the like. In addition, in the following description, the rotation speed of the motor is sometimes referred to as the speed.

[0025] The mechanical conditions acquired by the condition acquisition unit 12 are physical quantities related to the driving object, including parameters such as the length and diameter of the ball screw, the mass of the worktable and the workpiece, and the friction coefficient. The action conditions acquired by the condition acquisition unit 12 include parameters that define the specified action mode, such as the moving distance and moving speed of the worktable and the workpiece. According to the mechanical conditions and action conditions acquired by the condition acquisition unit 12, the specified action performed by the predetermined driving object is determined, so the condition acquisition unit 12 outputs the acquired mechanical conditions and action conditions to the simulation unit 14.

[0026] The simulation unit 14 obtains, by simulation, a speed waveform, a torque waveform, and a current waveform of a motor driving a predetermined drive target when the predetermined drive target is caused to perform a predetermined operation based on the mechanical conditions and the operation conditions input from the condition acquisition unit 12 .

[0027] Figure 2 A diagram showing an operation pattern of a driven object determined according to an operation condition. Figure 2 The horizontal axis represents time, and the vertical axis represents the position of the workbench (or workpiece). Figure 2 In the figure, it indicates an action mode in which the table (or workpiece) moves 1 m in a specified direction and then stops during a specified time period.

[0028] Figure 3 FIG. 4 is a diagram showing a speed waveform of a driven object obtained by simulation. Figure 3 The horizontal axis represents time, and the vertical axis represents the speed of the worktable (or workpiece). Figure 3 If the unit of the vertical axis is changed, it becomes the motor speed waveform. Figure 4 A diagram showing a torque waveform of a motor obtained through simulation. Figure 4 The horizontal axis represents time, and the vertical axis represents the torque of the motor. Figure 5 A diagram showing a motor current waveform obtained through simulation. Figure 5 The horizontal axis represents time, and the vertical axis represents the current of the motor. Figure 3 , Figure 4 as well as Figure 5 So find out how to make the driver object execute Figure 2 The speed waveform, torque waveform and current waveform of the motor rotation under the action of Figure 2 They are displayed together on the display unit 28 and presented to the user.

[0029] The speed calculation unit 16 calculates the average speed based on the speed waveform of the motor obtained by the simulation of the simulation unit 14. The speed calculation unit 16 can calculate the average speed by arithmetic mean operation based on the speed values ​​at multiple moments selected from the speed waveform, or can calculate the average speed by root mean square operation. The average speed can be a value obtained by performing a certain average operation based on the speed waveform.

[0030] The current calculation unit 18 calculates a root mean square current based on the current waveform obtained by the simulation of the simulation unit 14, and outputs the calculated root mean square current to the determination unit 24. Here, the calculated root mean square current is a value including an effective current component and a reactive current component.

[0031] The storage unit 22 stores motor characteristics corresponding to the speed of the target motor as the selected object. Here, the motor characteristics stored in the storage unit 22 are rated currents. Therefore, the storage unit 22 stores the relationship between the rated currents corresponding to the speeds for each of the plurality of motors. The rated currents stored in the storage unit 22 include an effective current component and an ineffective current component. Figure 6 This is a graph showing the rated current corresponding to the speed of the target motor. Figure 6 The vertical axis represents the current, the horizontal axis represents the speed, and the rated current is represented by a solid line. The target motor can continuously operate at a current below the rated current at each speed, so the current range is represented as the continuous operation range. Furthermore, the situation where the ineffective current component Id (dashed line) is generated at a speed above Nd, thereby reducing the effective current component Iq (dashed line) in the rated current.

[0032] The judgment unit 24 uses the motor characteristics corresponding to the average speed and the root mean square current to judge whether the object motor can perform the prescribed action of the driving object. Specifically, the judgment unit 24 compares the root mean square current obtained from the current calculation unit 18 and the rated current corresponding to the average speed of the object motor obtained by accessing the storage unit 22. Then, the judgment unit 24 judges whether the root mean square current is less than the above-mentioned rated current. If the root mean square current is less than the rated current, it is judged that the object motor can be used to make the predetermined driving object perform the prescribed action. If the root mean square current is larger than the rated current, it is judged that the object motor cannot be used to make the predetermined driving object perform the prescribed action. Here, the object motor used as the comparison object is a motor selected as a selected object from a plurality of motors in which the storage unit 22 stores the relationship of the rated current corresponding to the speed.

[0033] For example, in Figure 6 In the above, when the value of the root mean square current calculated by the current calculation unit 18 is A0, the point A where the value of the root mean square current becomes A0 at the average speed calculated by the speed calculation unit 16 is included in the continuous action area. In this case, the root mean square current A0 is less than the value of the rated current corresponding to the average speed calculated by the speed calculation unit 16, that is, B0, so the judgment unit 24 judges that the object motor can make the driven object perform the prescribed action. On the contrary, if the root mean square current A0 is greater than the value of the rated current corresponding to the average speed B0, the judgment unit 24 judges that the object motor cannot make the driven object perform the prescribed action. The judgment unit 24 outputs the above judgment result to the output unit 26.

[0034] The output unit 26 outputs a notification signal notifying the determination result from the determination unit 24. The display unit 28 displays the content of the notification signal output by the output unit 26, thereby notifying the user whether the target motor can be used.

[0035] Figure 7 1 is a flowchart illustrating a motor selection method in an embodiment. Figure 7 Before the flowchart of FIG. 1 is executed, the condition acquisition unit 12 outputs the acquired mechanical conditions and operation conditions to the simulation unit 14 .

[0036] First, the simulation unit 14 simulates the rotation speed waveform, torque waveform, and current waveform of a motor driving a predetermined drive target when the predetermined drive target is caused to perform a predetermined operation based on the mechanical conditions and operation conditions input from the condition acquisition unit 12 (step S1 ).

[0037] Next, the speed calculation unit 16 calculates the average speed based on the speed waveform obtained in step S1 and outputs the average speed to the determination unit 24 (step S2 ).

[0038] The current calculation unit 18 calculates the root mean square current based on the current waveform obtained in step S1 , and outputs the calculated root mean square current to the determination unit 24 (step S3 ).

[0039] The determination unit 24 compares the RMS current calculated by the current calculation unit 18 with the rated current of the target motor corresponding to the average speed calculated by the speed calculation unit 16, and determines whether the RMS current is less than the rated current (step S4). The determination unit 24 outputs the determination result of whether the target motor can perform the prescribed action of the driving target based on the determination in step S4 to the output unit 26.

[0040] The output unit 26 outputs a report signal for reporting the determination result of the determination unit 24 (step S5 ), and causes the display unit 28 to display the contents of the report signal.

[0041] As described above, the motor selection device 10 of the present embodiment compares the root mean square current and the rated current of the motor as the selected object corresponding to the average speed. Then, it is determined whether the root mean square current is less than the rated current, thereby determining whether the target motor can perform the prescribed action of the driving object. Thus, the values ​​including the effective current component and the ineffective current component are compared with each other, so that the motor can be selected in consideration of the ineffective current component flowing in the motor. As a result, it is possible to select a motor more appropriately than before.

[0042] [Modifications]

[0043] The above-mentioned embodiment may be modified as follows.

[0044] (Variant 1)

[0045] Figure 8 FIG. 1 is a schematic diagram of the motor selection device 10 in the first modification. Figure 8 In the motor selection device 10, Figure 1 The motor selection device 10 is additionally provided with a continuous torque calculation unit 30. In the above-mentioned embodiment, the motor selection device 10 determines whether the target motor can perform a specified action by comparing the root mean square current including the effective current component and the reactive current component with the rated current including the effective current component and the reactive current component. Thus, the motor can be selected by taking the reactive current component into consideration. In the first modification, the motor selection device 10 converts the root mean square current including the reactive current component into a continuous torque and compares it with the rated torque to determine whether the target motor can perform a specified action.

[0046] The continuous torque calculation unit 30 calculates the continuous torque taking into account the reactive current component based on the RMS current input from the current calculation unit 18, and outputs the calculated continuous torque to the determination unit 24. Furthermore, in the first modification, the storage unit 22 stores the rated torque as the motor characteristic. Fig. 9: is a graph showing the rated torque corresponding to the speed of the target motor in Modification 1. Fig. 9 The vertical axis represents continuous torque, the horizontal axis represents speed, and the rated torque is represented by a solid line. The target motor can perform continuous operation at a continuous torque below the rated torque at each speed, so such a continuous torque area is represented as a continuous operation area. Furthermore, it represents a situation where a reactive current component flows at a speed above Nd, and the rated torque is further reduced due to the reactive current component (dashed line) at a speed above Nd.

[0047] The following describes a specific procedure for the continuous torque calculation unit 30 to calculate the continuous torque based on the root mean square current in consideration of the reactive current component. rms It is defined by the following formula (1). Here, I a It is a function using time as a variable, which represents the current waveform obtained by the simulation of the simulation unit 14 .

[0048]

[0049] Here, according to the RMS current I rms The calculated continuous torque T rms It can be calculated by the following formula (2). Here, K t is the torque constant.

[0050] T rms =K t I rm s…(2)

[0051] Here, the continuous torque calculation unit 30 can calculate the continuous torque T based on the rotation speed obtained from the speed waveform obtained by simulation and the continuous torque T rms , find the reactive current component I at the average speed found by the speed calculation unit 16 datNmean Then, the continuous torque calculation unit 30 calculates the RMS current I rms Eliminate the ineffective current component I at average speed datNmean , the continuous torque T is calculated as follows: rms '.

[0052]

[0053] exist Fig. 9 Point C is the point where the continuous torque value at the average speed becomes T rms Point D is the point where the continuous torque value at the average speed becomes T rms ' point.

[0054] Then, the determination unit 24 compares the continuous torque T obtained from the continuous torque calculation unit 30 with rms', and the rated torque corresponding to the average speed of the target motor obtained by accessing the storage unit 22. Then, the determination unit 24 determines the continuous torque T rms 'Is it below the above rated torque? If the continuous torque T rms ' is less than the rated torque, it is determined that the target motor can be used to make the predetermined drive object perform a predetermined action. rms ' is greater than the rated torque, it is determined that the target motor cannot be used to make the predetermined drive object perform a specified action. Fig. 9 In the process, the rated torque has decreased, and the reactive current component I datNmean The continuous torque T rms (Point C) is not appropriate to compare with the rated torque. datNmean From the RMS current I rms Remove the conversion and calculate the continuous torque T rms '(Point D), compared with the rated torque, an accurate evaluation can be made, and a result that the target motor can be selected can be obtained.

[0055] Fig.10 This is a flowchart for explaining the motor selection method in Modification 1. Fig.10 Before the flowchart of FIG. 1 is shown, the condition acquisition unit 12 outputs the acquired mechanical conditions and action conditions to the simulation unit 14. Steps S11, S12, S13 and S16 are Figure 7 Steps S1, S2, S3 and S5 are the same, so the description is omitted. Figure 7 The different steps are explained.

[0056] In step S14, the continuous torque calculation unit 30 calculates the root mean square current I input from the current calculation unit 18. rms Eliminate the reactive current component I obtained as described above datNmean , calculate the continuous torque T rms ', the calculated continuous torque T rms 'Output to the judgment unit 24.

[0057] In step S15, the determination unit 24 compares the continuous torque T calculated by the continuous torque calculation unit 30 with the rms ', and the rated torque of the target motor corresponding to the average speed calculated by the speed calculation unit 16, and the continuous torque T rms The determination unit 24 outputs the determination result of whether the target motor can perform the predetermined action of the drive target based on the determination in step S15 to the output unit 26 .

[0058] Thus, in the first modification, the motor selection device 10 compares the root mean square current Irms Remove the ineffective current component I datNmean The continuous torque T rms ', and the rated torque that does not include the torque component based on the invalid current component. Thus, by comparing the values ​​of the torque component that does not include the invalid current component with each other, the motor selection can be performed in consideration of the invalid current component flowing in the motor. As a result, the motor selection can be performed more appropriately than before.

[0059] (Variant 2)

[0060] In the above-mentioned embodiment, the motor is a rotational motor, but in Modification 2, the motor is a linear motor that does not perform a rotational motion. Fig.11 FIG. 1 is a schematic diagram of the motor selection device 10 in the second modification. Fig.11 In the motor selection device 10, Figure 8 The continuous torque calculation unit 30 is replaced by the continuous thrust calculation unit 40. In the second modification, the motor selection device 10 converts the root mean square current including the reactive current component into the continuous thrust, and compares it with the rated thrust to determine whether the target motor can perform a predetermined operation.

[0061] The continuous thrust calculation unit 40 calculates the continuous thrust taking into account the reactive current component based on the RMS current input from the current calculation unit 18, and outputs the calculated continuous thrust to the determination unit 24. Furthermore, in the second modification, the storage unit 22 stores the rated thrust as the motor characteristic.

[0062] A specific procedure for the continuous thrust calculation unit 40 to calculate the continuous thrust from the root mean square current in consideration of the reactive current component will be described below.

[0063] First, according to the RMS current I of equation (1) output by the current calculation unit 18 rms The calculated continuous thrust F rms It can be calculated by the following formula (4). Here, K f is the thrust constant.

[0064] F rms =K f I rms …(4)

[0065] Here, the continuous thrust calculation unit 40 can calculate the continuous thrust F based on the motor speed obtained from the speed waveform obtained by simulation and the continuous thrust F rms , find the reactive current component I at the average speed found by the speed calculation unit 16 datNmean Then, the continuous thrust calculation unit 40 calculates the root mean square current I rms Remove the ineffective current component I at average speed datNmean, the continuous thrust F is calculated as follows: rms '.

[0066]

[0067] Then, the determination unit 24 compares the continuous thrust F obtained from the continuous thrust calculation unit 40 with rms ', and the rated thrust corresponding to the average speed of the target motor obtained by accessing the storage unit 22. Then, the determination unit 24 determines the continuous thrust F rms 'Is it below the above rated thrust? If the continuous thrust F rms ' is less than the rated thrust, it is determined that the target motor can be used to make the predetermined drive object perform a predetermined action. rms ' is greater than the rated thrust, it is determined that the target motor cannot be used to make the predetermined drive target perform a predetermined action. In the second modification, I datNmean From the RMS current I rms Remove the conversion and calculate the continuous thrust F rms ', and compared with the rated thrust, an accurate evaluation can be performed, and a result that allows the target motor to be selected can be obtained.

[0068] The motor selection method of the second modification can be Fig.10 Step S14 of the flowchart is replaced by the continuous thrust calculation unit 40 calculating the continuous thrust F rms ', step S15 is replaced by the determination unit 24 determining the continuous thrust F rms 'Whether the average speed is below the rated thrust of the target motor or not is described below.

[0069] Thus, in the second modification, the motor selection device 10 compares the RMS current I rms Remove the ineffective current component I datNmean The continuous thrust F rms ', and the rated thrust that does not include the thrust component based on the ineffective current component. Thus, by comparing the values ​​of the thrust component that does not include the ineffective current component, the motor selection can be performed in consideration of the ineffective current component flowing in the motor. As a result, the motor selection can be performed more appropriately than before.

[0070] (Variant 3)

[0071] In the above-mentioned embodiment and modification 1, the speed waveform, torque waveform and current waveform of the motor are set to be obtained by simulation performed by the simulation unit 14, but they can also be measured values ​​obtained in advance. The speed calculation unit 16, the current calculation unit 18 and the continuous torque calculation unit 30 can also calculate the average speed, the root mean square current or the continuous torque based on these measured values. In this way, the simulation can be omitted.

[0072] (Variant 4)

[0073] The above-described embodiments and modifications may be appropriately combined within a range where no contradiction occurs.

[0074] [Inventions from Embodiments]

[0075] The invention that can be grasped from the above-mentioned embodiment will be described below.

[0076] (First Invention)

[0077] The motor selection device (10) comprises: a speed calculation unit (16) which calculates an average speed based on a speed waveform of a motor that drives a driving object when a predetermined driving object is caused to perform a specified action; a current calculation unit (18) which calculates a root mean square current based on a current waveform of a motor that drives the driving object when the driving object is caused to perform a specified action; a storage unit (22) which stores a motor characteristic corresponding to the speed of a target motor as a selected object; and a judgment unit (24) which uses the motor characteristic corresponding to the average speed and the root mean square current to judge whether the target motor can perform the specified action.

[0078] This makes it possible to select a motor in consideration of the reactive current component flowing through the motor. As a result, it is possible to select a motor more appropriately than before.

[0079] The motor characteristic may also be a rated current. The judging unit (24) may also judge whether the target motor can perform a predetermined action by judging whether the root mean square current is less than the rated current of the target motor corresponding to the average speed. Thus, the values ​​including the effective current component and the ineffective current component are compared with each other, so that the motor can be selected by considering the ineffective current component flowing in the motor.

[0080] The motor characteristic may also be a rated torque or a rated thrust. The motor selection device (10) further includes a continuous torque calculation unit (30) or a continuous thrust calculation unit (40), which calculates the continuous torque or continuous thrust based on the root mean square current in consideration of the reactive current component, and the judgment unit (24) may also judge whether the target motor can perform a specified action by judging whether the continuous torque or continuous thrust is less than the rated torque or rated thrust of the target motor corresponding to the average speed. Thus, the values ​​of the torque component or thrust component that does not include the reactive current component are compared with each other, so that the motor selection can be performed in consideration of the reactive current component flowing through the motor.

[0081] The motor selection device (10) may further include an output unit (26) that outputs a notification signal notifying the determination result of the determination unit (24). Thus, the user can be notified whether the target motor can be used.

[0082] (Second Invention)

[0083] A motor selection method for a motor selection device (10), the motor selection device (10) having a storage unit (22), in which the storage unit (22) stores motor characteristics corresponding to the speed of an object motor as a selected object, the motor selection method comprising: a speed calculation step of calculating an average speed based on a speed waveform of a motor that drives a drive object when causing a predetermined drive object to perform a specified action; a current calculation step of calculating a root mean square current based on a current waveform of the motor that drives the drive object when causing the drive object to perform a specified action; and a judgment step of using the motor characteristics corresponding to the average speed and the root mean square current to judge whether the object motor can perform the specified action.

[0084] This makes it possible to select a motor in consideration of the reactive current component flowing through the motor. As a result, it is possible to select a motor more appropriately than before.

[0085] The motor characteristic may also be a rated current. In the judgment step, it is also possible to judge whether the target motor can perform a prescribed action by judging whether the root mean square current is less than the rated current of the target motor corresponding to the average speed. Thus, by comparing the values ​​including the effective current component and the ineffective current component, the motor can be selected in consideration of the ineffective current component flowing in the motor.

[0086] The motor characteristic may also be a rated torque or a rated thrust. Alternatively, the motor selection method may further include a continuous torque calculation step or a continuous thrust calculation step, wherein the continuous torque or continuous thrust is calculated based on the root mean square current in consideration of the invalid current component, and in the judgment step, by judging whether the continuous torque or continuous thrust is less than the rated torque or rated thrust of the target motor corresponding to the average speed, it is judged whether the target motor can perform a prescribed action. Thus, the values ​​of the torque component or thrust component that does not include the invalid current component are compared with each other, so that the motor selection can be performed in consideration of the invalid current component flowing through the motor.

[0087] The motor selection method may further include an output step of outputting a notification signal for notifying the determination result of the determination step, thereby being able to notify the user whether the target motor can be used.

Claims

1. A motor selection device, characterized in that it comprises: a speed calculation unit that calculates an average speed based on a speed waveform of a motor that drives a predetermined drive object when causing the predetermined drive object to perform a predetermined motion; a current calculation unit that calculates a root mean square current including a reactive current component based on a current waveform of the motor that drives the driven object when causing the driven object to perform the predetermined action; a storage unit that stores a motor characteristic corresponding to a speed of a target motor that is a selected target; as well as a determination unit for determining whether the target motor can perform the predetermined action by using the motor characteristic corresponding to the average speed and the root mean square current, The motor characteristic is the rated current including the reactive current component, The determination unit determines whether the target motor can perform the predetermined operation by determining whether the root mean square current is equal to or less than a rated current of the target motor corresponding to the average speed.

2. The motor selection device according to claim 1, It is characterized in that The motor selection device further includes an output unit that outputs a reporting signal reporting a determination result of the determination unit.

3. A motor selection device, It is characterized in that have: a speed calculation unit that calculates an average speed based on a speed waveform of a motor that drives a predetermined drive object when causing the predetermined drive object to perform a predetermined motion; a current calculation unit that calculates a root mean square current based on a current waveform of the motor that drives the driven object when causing the driven object to perform the predetermined action; a storage unit that stores a motor characteristic corresponding to a speed of a target motor that is a selected target; a determination unit that determines whether the target motor can perform the predetermined action by using the motor characteristic corresponding to the average speed and the root mean square current; as well as a continuous torque calculation unit or a continuous thrust calculation unit, wherein the continuous torque calculation unit or the continuous thrust calculation unit calculates the continuous torque or the continuous thrust based on the root mean square current in consideration of the reactive current component, The motor characteristic is rated torque or rated thrust, The determination unit determines whether the target motor can perform the predetermined operation by determining whether the continuous torque or the continuous thrust is equal to or less than the rated torque or the rated thrust of the target motor corresponding to the average speed.

4. The motor selection device according to claim 3, It is characterized in that The motor selection device further includes an output unit that outputs a reporting signal reporting a determination result of the determination unit.

5. A motor selection method for a motor selection device, the motor selection device having a storage unit, wherein the motor selection method is characterized in that: The storage unit stores motor characteristics corresponding to the speed of the target motor as the selected target, The motor selection method include: a speed calculation step of calculating an average speed based on a speed waveform of a motor driving a predetermined driving object when causing the predetermined driving object to perform a predetermined action; a current calculation step of calculating a root mean square current including a reactive current component based on a current waveform of the motor driving the driven object when causing the driven object to perform the prescribed action; as well as a determination step of determining whether the target motor can perform the prescribed action by using the motor characteristic corresponding to the average speed and the root mean square current, The motor characteristic is the rated current including the reactive current component, In the determination step, it is determined whether the target motor can perform the predetermined operation by determining whether the root mean square current is equal to or less than a rated current of the target motor corresponding to the average speed.

6. The motor selection method according to claim 5, It is characterized in that The motor selection method further includes an output step of outputting a report signal reporting a determination result of the determination step.

7. A motor selection method for a motor selection device, the motor selection device having a storage unit, the motor selection method being characterized in that: The storage unit stores motor characteristics corresponding to the speed of the target motor as the selected target, The motor selection method include: a speed calculation step of calculating an average speed based on a speed waveform of a motor driving a predetermined driving object when causing the predetermined driving object to perform a predetermined action; a current calculation step of calculating a root mean square current based on a current waveform of the motor driving the driven object when causing the driven object to perform the prescribed action; a determination step of determining whether the target motor can perform the prescribed action using the motor characteristics corresponding to the average speed and the root mean square current; and a continuous torque calculation step or a continuous thrust calculation step, in which the continuous torque or the continuous thrust is calculated based on the root mean square current by taking into account the reactive current component, The motor characteristic is rated torque or rated thrust, In the determination step, it is determined whether the target motor can perform the predetermined operation by determining whether the continuous torque or the continuous thrust is equal to or less than the rated torque or the rated thrust of the target motor corresponding to the average speed.

8. The motor selection method according to claim 7, It is characterized in that The motor selection method further includes an output step of outputting a report signal reporting a determination result of the determination step.

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