Motor control apparatus
The motor control device simplifies filter adjustments by determining linear candidate frequencies and automating settings, effectively suppressing resonance and reducing vibration in motor operations.
WO2026140240A1PCT designated stage Publication Date: 2026-07-02FANUC LTD
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- FANUC LTD
- Filing Date
- 2024-12-27
- Publication Date
- 2026-07-02
AI Technical Summary
Technical Problem
Existing motor control devices face issues with resonance causing vibration and phase delay due to inappropriate filter settings, necessitating a method to simplify and optimize filter adjustments.
Method used
A motor control device with components for measuring input/output responses, extracting candidate frequencies, and determining linearity of output values with respect to gain, enabling automatic filter setting and optimization.
Benefits of technology
Facilitates easier and more accurate filter settings by identifying linear candidate frequencies, allowing for optimized resonance suppression and reduced operational verification iterations.
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Smart Images
Figure JP2024046469_02072026_PF_FP_ABST
Abstract
This motor control apparatus comprises: a speed command creation unit; a torque command creation unit; a filter; an amplifier; a measurement signal input unit that receives the input of a measurement signal for measuring an input / output response of a control loop that includes a motor, the torque command creation unit, the filter, and the amplifier; an input / output response acquisition unit that acquires the input / output response of the control loop; a measurement control unit that changes the gain of the amplifier to acquire a plurality of input / output responses; a candidate extraction unit that extracts candidate frequencies at which a torque command value should be reduced by the filter in the input / output responses; a candidate information storage unit that stores output values at the candidate frequencies; and a linear determination unit that, on the basis of the output values at the candidate frequencies of the same frequency extracted from the plurality of input / output responses, determines whether the output values at the candidate frequencies are linear with respect to the gain.
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