Motor control device

Abstract

A motor control device includes a speed detection section that detects a speed of a motor; a speed limiter that outputs a motor speed command after calculating a speed command based on a torque command and limiting the speed command based on the torque command, the speed limiter including: a torque command limiter that limits the torque command based on a speed limit state in which the speed command based on the torque command is limited by a speed limit command, and outputs the torque command after the torque command limiter; a change adjuster that smoothes the torque command after the torque command limiter, and outputs the torque command after the change adjuster; a speed deviation calculator that calculates a speed deviation based on the torque command after the change adjuster; an adder that adds the speed deviation based on the torque command after the change adjuster to the speed of the motor, and provides the speed command based on the torque command; and a speed limiter that limits the speed command based on the torque command by the speed limit command, and outputs the motor speed command.

Claims

1. A motor control device, characterized in that, The motor control device includes: The speed detection unit detects the speed of the motor; and The speed limiting unit is configured to calculate a speed command based on the torque command, limit the speed command based on the torque command, and then output a motor speed command. The speed limiting unit includes a torque command limiter, a change adjuster, a speed deviation calculator, an adder, and a speed limiter. The torque command limiter is configured to limit the torque command based on a speed limit state that limits the torque command-based speed command using a speed limit command, and output the torque command after the torque command limiter. The variable adjustment mechanism is configured to smoothly change the torque command after the torque command limiter, and output the torque command after the variable adjustment mechanism. The speed deviation calculator is configured to calculate the speed deviation based on the torque command after the change adjuster. The adder is configured to add the speed deviation based on the torque command after the change adjuster to the speed of the motor, thereby providing a speed command based on the torque command. The speed limiter is configured to limit the torque-based speed command with the speed limit command, and output the motor speed command. The motor control device further includes: The subtractor is configured to subtract the motor speed detected by the speed detection unit from the motor speed command, and provide the speed deviation after subtraction; The speed controller is configured to perform speed control calculations based on the speed deviation after the subtraction, and output a motor torque command; and The motor torque controller is configured to output torque based on the motor torque command.

2. The motor control device according to claim 1, characterized in that, When the speed is not limited in the speed limiter, the speed controller performs proportional control; when the speed is limited in the speed limiter, the speed controller performs proportional-integral control.

3. A motor control device, characterized in that, The motor control device includes: The speed detection unit detects the speed of the motor; and The speed limiting unit is configured to calculate a speed command based on the torque command, limit the speed command based on the torque command, and then output a speed command after the limiter. The speed limiting unit includes a torque command limiter, a change adjuster, a speed deviation calculator, an adder, and a speed limiter. The torque command limiter is configured to limit the torque command based on a speed limit state that limits the torque command-based speed command using a speed limit command, and output the torque command after the torque command limiter. The variable adjustment mechanism is configured to smoothly change the torque command after the torque command limiter, and output the torque command after the variable adjustment mechanism. The speed deviation calculator is configured to calculate the speed deviation based on the torque command after the change adjuster. The adder is configured to add the speed deviation based on the torque command after the change adjuster to the speed of the motor, thereby providing a speed command based on the torque command. The speed limiter is configured to limit the torque-based speed command with the speed limit command, and output the speed command after the limiter is applied. The motor control device also includes a first subtractor, a position controller, a control mode switching unit, and a speed command selection unit. The first subtractor is configured to subtract the position from the position command, providing a position offset. The position controller is configured to provide speed commands based on the position deviation. The control mode switching unit is configured to switch between position control mode and torque control mode according to an automatic control mode switching signal. It compares the speed command from the position controller with the speed command after the limiter. If the value of the speed command from the position controller is greater than the value of the speed command after the limiter, the position control mode is selected; if the value of the speed command from the position controller is less than or equal to the value of the speed command after the limiter, the torque control mode is selected. The speed command selection unit is configured to select, based on the control mode selected by the control mode switching unit, either the speed command from the position controller or the speed command after the speed limiter, and provide a motor speed command. The motor control device also includes: The second subtractor is configured to subtract the motor speed detected by the speed detection unit from the motor speed command, and provide the speed deviation after the second subtractor; The speed controller is configured to perform speed control calculations based on the speed deviation after the second subtractor and output a motor torque command; and The motor torque controller is configured to output torque based on the motor torque command.

4. The motor control device according to claim 3, characterized in that, If the motor-driven component reaches a position that is only a predetermined distance away from the press control object, the control mode switching unit automatically switches the control mode.

5. The motor control device according to claim 3, characterized in that, When the speed is not limited in the speed limiter, the speed controller performs proportional control; when the speed is limited in the speed limiter, the speed controller performs proportional-integral control.

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