Hitachi Industrial Equipment Systems Co., Ltd.

Mitsuru Matsubara

Kazuaki Tobari

Yusuke Uei

Tetsuo Yanada

Yuuri Takano

Hironori Ohashi

Terutomo Kondo

A motor-controller device includes a position control system that controls the position of a machine end connected to the motor. The motor-controller device receives a first speed directive from a high-level controller, stored in the position control system to output a motor axis position response to the high-level controller, including speed controller and vibration controller in speed control system. The vibration controller includes a position-command estimator that calculates an estimate of the location directive based on the first speed directive and the motor axis position response, a parallel vibration damping controller that extracts frequency components that excite vibration of the machine end included in the first speed directive based on the estimated value of the location directive, and outputs the extracted frequency components.

Motor control device

This motor control device receives a speed command from an upper layer system control device having a position controller, the motor control device having: a position command estimator that calculates an estimate of a position command on the basis of the speed command and a motor axis position response; and a speed command generator that generates an actual speed command on the basis of the estimate so that an end section of a machine connected to the motor does not oscillate, wherein the actual speed command is output from the speed command generator to a speed controller.

An estimated value of frequency of a vibration component for automatically adjusting a control unit that suppresses resonance characteristics of a machine is stably and reliably estimated without depending on the magnitude of amplitude of the vibration component and without risk of arithmetic overflow. A motor control device including an automatic adjustment device that adaptively adjusts a controller included in a motor control system based on a frequency of a vibration component superimposed on a response of the motor control system, the automatic adjustment device including a vibration extraction unit that receives the response of the motor control system and extracts the vibration component from the response of the motor control system; a notch filter unit that receives the vibration component from the vibration extraction unit; an encoding unit; a limiter unit that receives an output of the notch filter unit; an adaptive updating unit; and a unit conversion unit.

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Tokyo, Japan

Mitsuru Matsubara