Panasonic Intellectual Property Management Co., Ltd.

Matsushita Electric Industrial Co., Ltd.

Panasonic Corporation

Panasonic Holdings Corporation

Toru Tazawa

Hiroshi Fujiwara

Masaru Nishizono

Kazushige Narazaki

Tomokuni Iijima

Ichiro Oyama

Yukinori Maruyama

Fumitake Saegusa

Kenta Murakami

Kenichi Suzuki

Hideo Matsushiro

Ryuta Sasaki

Yasuyuki Yokouchi

Sadahiro Matsuura

Yusuke Nonogaki

Renya Kawakami

Tomohiro Inoue

Subrata Saha

Kenji Sugiura

Yoshiaki Igarashi

Masahiro Yasohara

Yasushi Kato

Yoshiaki Doyama

Kenichi Kishimoto

Keizo Matsui

Mitsuhiro Sakamoto

Daisuke Sonoda

Ken'ichi Suzuki

Shigeru Satou

Hayata Sakai

Shigeru Satoh

Yuta Shiraki

Yukihiro Yamaichi

Tomoyuki Iijima

Katsuyuki Nagai

An oscillation information calculation device includes: a sensor information obtainer that obtains time series position information on a motor as detected by a position detector, and time series sensor information on a movable part as detected by a sensor attached to the movable part, the movable part being connected to the motor via a joint; and an information calculator that calculates and outputs at least one of oscillation presence/absence information, oscillation frequency information, or oscillation causal information, based on the time series position information and the time series sensor information, the oscillation presence/absence information indicating presence or absence of oscillation of the motor and the movable part, the oscillation frequency information indicating an oscillation frequency of the motor and the movable part, the oscillation causal information indicating a cause of the oscillation of the motor and the movable part.

Oscillation information calculation device, oscillation information calculation method, and non-transitory computer-readable recording medium

A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and first to tenth amplifiers provided in one-to-one correspondence with first to tenth coils. One or more amplifiers that serve as new one or more power supply target amplifiers immediately after the switching calculate &#x394;&#x3b8; (t), which is a position deviation at time t=t, based on &#x394;&#x3b8; (t)=&#x394;&#x3b8; (t&#x2212;td)+A&#x2212;B, where A is a difference between an instructed position at time t=tand an instructed position at time t=t&#x2212;td, and B is a difference between an actual position at time t=tand an actual position at time t=t&#x2212;td, and supply power to the power supply target coils by the position deviation &#x394;&#x3b8; (t).

Linear motor system

A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and a control device that supplies power to the one or more power supply target coils by using a deviation integral value obtained by integrating a speed deviation that is a difference between an instructed speed of the mover and an actual speed of the mover. The control device includes: a compensator that calculates a post-division deviation integral value by dividing a post-summation deviation integral value, which is a value obtained by summing the deviation integral value used to supply power to each of the one or more power supply target coils immediately before the switching, by the total number of the one or more power supply target coils immediately after the switching; and a current control unit.

A motor control device controls a current of a motor based on a torque command, the current being separated into a d-axis current and a q-axis current orthogonal to the d-axis current, the torque command being a target value of a torque of the motor. The motor control device includes a current vector controller that receives input of a d-axis current command and a q-axis current command, and generates a d-axis voltage command and a q-axis voltage command, a difference between a value of the d-axis current and a value of the d-axis current command being zero, a difference between a value of the q-axis current and a value of the q-axis current command being zero, a q-axis current command generator that generates the q-axis current command based on the torque command, a magnetic-flux weakening controller that generates the d-axis current command based on a difference between a voltage command and a reference voltage, the voltage command being a vector with the d-axis voltage command output from the current vector controller as a d-axis component and the q-axis voltage command as a q-axis component, an amplitude of the voltage command not exceeding the reference voltage, a current limiter that limits a magnitude of the d-axis current command according to a magnitude of the q-axis current command, the d-axis current command being a d-axis component of a current command vector of the motor, the q-axis current command being a q-axis component of the current command vector of the motor, a magnitude of the current command vector of the motor not exceeding a current limit value, and a reference voltage correction unit that corrects the reference voltage based on a difference between a value of the d-axis current command before limitation and a value of the d-axis current command after the limitation.

Motor control device

An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.

Device for controlling electric motor

An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal. The torque command correction signal controls a current supplied to a stator winding wire of the electric motor.

Control device for electric motor

An electric motor control device performing feedback control of a state amount of an electric motor or a load and being capable of changing a control bandwidth of a feedback control system includes: a notch filter arranged in the feedback control system and having a filter coefficient which is changeable; a notch control section which changes a notch frequency as a center frequency of the notch filter to remove an oscillation component attributable to mechanical resonance related to the electric motor; and a control coefficient setting section which changes at least one of the control bandwidth or the filter coefficient of the notch filter in accordance with the control bandwidth and the notch frequency to stabilize the feedback control system.

Electric motor control device and electric motor control method

The invention provides a motor control device configured to feedback-control state quantity of a motor or a load, the device including a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, and a change forecaster configured to calculate to output, in accordance with the first notch frequency at each of a plurality of past times, at least one of a forecast value of the notch frequency at a specific future time, a forecast value of elapsed time from current time until the notch frequency is to become out of a specific frequency range, and a forecast value of time when the notch frequency is to become out of the specific frequency range.

Motor control device and motor control method

A motor control device is configured to feedback-control state quantity of a motor or a mechanical load, and the device includes a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, a change rate calculator configured to successively calculate a notch frequency change rate indicating a change amount per unit time of the first notch frequency, and a change rate monitor configured to output a signal indicating that the notch frequency change rate has a value outside a first predetermined range when the notch frequency change rate has the value outside the first predetermined range.

A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).

Control apparatus of an electric motor

A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step); computing a present speed-proportional gain range (Step); computing a present mechanical-system characteristic constant (Step); computing a present proportional gain range (Step); computing a secular characteristic (Step); computing a secular speed-proportional gain range (Step); computing a secular proportional gain range (Step); and selecting proportional gain values (Step).

Provided is a motor drive device which performs switching, with respect to a synchronous motor including a stator around which a motor winding is wound and a rotor holding a permanent magnet, from a synchronous operation in which the synchronous motor is synchronously driven to position-sensorless vector control in which a current supplied to the motor winding is controlled based on a position of the rotor. During the synchronous operation, the present motor drive device calculates, by estimation, an induced voltage error based on the detected current and voltage, performs control of an amplitude of a current instruction such that an error, of a target induced voltage, calculated based on an estimated induced voltage and based on an internal angle becomes equal to the induced voltage error, and switches the mode to the sensorless mode after the error is reduced to be within a range of a predetermined value. Further, by gradually reducing the current instruction during the synchronous operation, the absolute value of the induced voltage error is reduced to be within a range of the predetermined value.

Motor drive device and brushless motor

A motor controller of the present invention comprises units which obtain information indicative of a motor speed (&#x3c9;) and information indicative of motor torque (T), an air flow calculation section which calculates an air flow (Q) of a fan based on the motor speed (&#x3c9;) and the motor torque (T); and a speed command generation section which generates a speed command (&#x3c9;*) of a motor such that the air flow (Q) coincides with the predetermined air flow command (Q*).

Motor controller and motor control method

A method for calculating a motor constant of a permanent magnet type synchronous motor according to the present invention includes: a voltage applying step of applying a voltage obtained by compositing a DC component and an AC component to a permanent magnet type synchronous motor while varying a frequency of the AC component; a current detecting step of detecting a motor current flowing according to the applied voltage; a phase difference calculating step of calculating a difference in phase between the AC component of the applied voltage and an AC component of the motor current; and a motor constant calculating step of calculating a motor constant of the permanent magnet type synchronous motor. In addition, in the motor constant calculating step, the motor constant is calculated based on the applied voltage and the motor current when the difference in phase becomes nearly 45 degrees.

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Osaka, Japan

Toru Tazawa