Kabushiki Kaisha Yaskawa Denki

Takashi Kitazawa

Tadashi Okubo

Yasuhiko Kaku

Yasuyuki Takei

Kazuhide Takao

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

It is an object of the invention to regulate a control gain without requiring a host controller. In the invention, a command pattern generating section () generates a basic operation pattern for operating a motor based on various parameters such as a movement distance Pd, a maximum speed Vx, an acceleration time Ta, a deceleration time Td, a waiting time T, a forward rotating repetition number n, a reverse rotating repetition number m and a forward and reverse rotating repetition number y which are input through a parameter input device (), and repeats the basic operation pattern at a set number of times to set a continuous run pattern, and generates and outputs a position command for continuously operating the motor based on the continuous run pattern. Accordingly, it is possible to continuously generate a driving command for operating the motor without requiring a host controller (), thereby regulating a control gain.

Motor control device

A motor speed controller with high speed response characteristics. The controller comprises a proportional operating means, a means (,) which controls the angular velocity of a motor, an equivalent rigid body model (,) modelled in a primary delay system where the viscosity friction is handled as the time constant, a first compensating means (,) which carries out proportional operation, a second compensating means (,) which carries out integration, a means by which a motor torque signal outputted from the speed control means, the output of the first compensating means and the output of the second compensating means are added, and the sum is inputted to the equivalent rigid body model (,), and the differential signal between the speed signal of the speed control means and the output of the equivalent rigid body model is inputted to the first and second compensating means, and a means for defining the proportional gain of the first compensating means as the product of a first gain &xgr;,and a second gain &ohgr;,, the proportional gain of the second compensating means as the square of the second gain, and the second gain &ohgr;,as the product of the proportional gain (Kv) of the proportional operating means and a preset band setting coefficient (&agr;). The output of the equivalent rigid body model is fed back to the speed control means (,) as a measured speed.

Growing community of inventors

Fukuoka, Japan

Takashi Kitazawa