Kabushiki Kaisha Yaskawa Denki

Hideki Honda

Ryuichi Oguro

Souki Kaku

Shuang-Hui Hao

Hidekazu Miyagawa

A pre-compensator is provided based on a definition of abase vibration model having a motor transfer functionfor generating motor displacementfrom an input that is the sum of input torque and a table propelling forcemultiplied with a reducer and Cartesian-to-polar coordinate transformation constant, a table transfer functionfor multiplying a deviationbetween an output that is the motor displacement multiplied with a reducer and polar-to-Cartesian coordinate transformation constantand table displacement with a table-displacement-to-force conversion spring constantto generate the table propelling forceand to output table displacement, and a base driving transfer functionfor generating base displacement by multiplying base displacementwith a base-displacement-to-force conversion spring coefficientand inputting the same with the table propelling force, table displacementbeing generated from a difference between the table displacement and the base displacement.

Positioning control method

A motor controller, comprising a first simulation control unit () and a second simulation control unit () as a feed forward control means for inputting a command to an actual control unit () performing a feedback control, wherein the control parameter of the first simulation control unit () is set so that the high-speed property of a control response is increased, and the control parameter of the second simulation control unit () is set so that the stability of the control response is increased, whereby an entire feed forward control means can be designed so as to meet the requirements for the high-speed property and high stability of the control response.

Motor controller

Host control sectionis provided with simulation modelfor simulating the signal transmission characteristics of an electric motor control device. Host control sectionperforms an operation on the actual position command signal &#x3b8;ref that is supplied from the host device in accordance with the simulation model, calculates the speed and position of the electric motor corresponding to the actual position command signal &#x3b8;ref, and applies this speed and position as first simulation speed signal &#x3c9;F and first simulation position signal &#x3b8;F, respectively, with each second control sampling period t. Host control sectionfurther generates a linear combination of &#x3b8;ref&#x2212;&#x3b8;F and &#x3c9;F using, as combination coefficients, constants determined by parameters that characterize the simulation model, and supplies this linear combination as feedforward torque signal TFF for each second control sampling period t. In this way, the occurrence of error between the actual position signal and the simulation position signal can be prevented even when the control sampling period of the feedforward operation differs from the control sample cycle of the feedback operation.

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Fukuoka, Japan

Hideki Honda