Kabushiki Kaisha Yaskawa Denki

Kazuhide Takao

Yasuyuki Takei

Keisei Inoki

Takehiko Komiya

Takashi Kitazawa

Shuichi Mihara

Atsushi Imadu

A motor controller capable of detecting an oscillation of a feedback loop and performing gain adjustment while updating a gain value of a control unit is provided. The motor controller includes an electric motor, an operation-amount detector, a control unit, a machine, a disturbance signal generator which generates a sweep sine wave, a compensation-driving-force detector, a vibration calculator, an oscillation detector, a vibration storage, a simulated open-loop gain calculator, a gain changer, and an automatic gain changer, and detects an oscillation by processing a response signal in time series on the basis of a first threshold regarding to a magnitude of vibration and a second threshold regarding a frequency.

Motor controller

There is provided a motor control apparatus for setting, changing, resetting a control gain or a notch filter frequency Nf without using a parameter inputting apparatus, considerably reducing a procedure required in adjustment of the gain which has been needed from introducing the motor control apparatus until normal operation thereof, and capable of being simply dealt with even by an unskilled person. There is constructed a simple constitution including 2 pieces of rotary switches () which are inexpensive and provided with small mounting areas as an input setting apparatus andof LED () as a display apparatus, selecting a gain by a contact of the rotary switch, automatically setting a machine resonance filter frequency by detecting a generated vibration frequency, and only changing the rotary switch for temporarily releasing and resetting the control gain or the notch filter frequency Nf.

Motor control apparatus

In a method of automatically setting the vibration suppression filter, when a vibration detection portion detects a vibration A, a state variable frequency analysis portion analyzes the frequencies of data from a state variable trace portion to calculate a vibration frequency A, and the frequency characteristics of the vibration suppression filter is set based on vibration frequency A. A vibration level store portion stores the vibration level before the automatic setting of the vibration suppression filter, a filter setting selection portion compares the vibration level after the automatic setting with the vibration level before the automatic setting A. When the vibration level after the automatic setting is larger than the vibration level before the automatic setting, restoring of the setting of the vibration suppression filter to the state before the automatic setting Aand/or reducing the gain of a servo control portion.

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Fukuoka, Japan

Kazuhide Takao