Kabushiki Kaisha Yaskawa Denki

Yaskawa Electric Mfg. Co. Ltd.

Yasuhiko Kaku

Yasufumi Yoshiura

Wennong Zhang

Tadashi Okubo

Tetsuya Asai

Hiroshi Nakamura

Yusuke Oka

Mitsujiro Sawamura

Keisei Inoki

Yoichi Yamamoto

Yoshiji Hiraga

Junji Hirai

Haruhiko Koike

Tomohiro Kamishio

Kanji Watanabe

Takashi Kitazawa

Atsuo Ikeda

Shoji Takamatsu

Masaru Nakano

Kenichi Murata

Ichiro Ishibashi

Nobuhiro Kyura

Takuhiro Suganuma

Shigeru Futami

Shouta Kawahara

A motor control device includes output command calculation circuitry and inertial load value calculation circuitry. The output command calculation circuitry is configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor. The inertial load value calculation circuitry is configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.

Motor control device and method of controlling motor

A motor control apparatus includes an AC-DC converter, an auxiliary power source, and an inverter. The AC-DC converter converts AC power into DC power and feeds the DC power to a DC bus bar. DC power is fed from the auxiliary power source to the DC bus bar and from the DC bus bar to the auxiliary power source. The inverter converts the DC power of the DC bus bar into the AC power and feeds the AC power to a motor. The auxiliary power source includes a capacitor, a DC-DC converter, and circuitry. The DC-DC converter performs conversion between a first DC voltage of the DC bus bar and a second DC voltage applied between both terminals of the capacitor or inside of the capacitor. The circuitry is configured to control the DC-DC converter to maintain positive correlation between the second DC voltage and the first DC voltage.

Motor control apparatus, power conversion device, auxiliary power source device, and method for controlling auxiliary power source device

A motor controller to control a motor includes a position controller, a speed controller, a first integrator, and a second integrator. The position controller is configured to generate a speed command based on a position error between a position command and a motor position. The speed controller is configured to generate a torque command to be input to the motor based on a speed error between the speed command and a motor speed. The first integrator is configured to calculate an integral value of the position error to be added to the position error. The second integrator is configured to calculate an integral value of the speed error to be added to the speed error.

Motor controller and method for controlling motor

Provided is a motor control device, including an acceleration command calculation unit configured to calculate an acceleration command directed to a motor, a torque command calculation unit configured to calculate a torque command directed to the motor based on the acceleration command and a predetermined moment-of-inertia value, a torque correction value calculation unit configured to estimate disturbance of the motor based on the torque command and at least one of a motor position or a motor speed, to thereby calculate a torque correction value for the torque command, and a moment-of-inertia value change unit configured to change the predetermined moment-of-inertia value based on an estimated moment-of-inertia ratio, which is a ratio of the torque correction value to the torque command.

Motor control device and motor control method

Provided is an electric-motor control device, including: a command value calculation unit configured to calculate a command value directed to an electric motor based on a command value and a given moment-of-inertia value; a difference detection unit configured to detect a difference between the moment-of-inertia value and an estimated moment-of-inertia value; a moment-of-inertia value change unit configured to change at least anyone of the moment-of-inertia value and a correction coefficient for the moment-of-inertia value based on the difference; and a change restriction unit configured to restrict a change in the moment-of-inertia value or the correction coefficient when at least any one of the moment-of-inertia value and the correction coefficient is changed to decrease by the moment-of-inertia value change unit.

Electric-motor control device, system and method

A control apparatus for controlling a motor performing pressure control includes circuitry which calculates a detected speed of a motor based on an input pressure command, sensor reaction force, movable part viscous damping force and movable part mass, outputs the detected speed, calculates the movable part viscous damping force by multiplying the detected speed by a movable part viscous damping coefficient to calculate the detected speed, calculates a detected position of the motor by integrating the detected speed, outputs the detected position, calculates a sensor viscous damping pressure by multiplying the detected speed by a sensor viscous damping coefficient, calculates a sensor spring pressure by multiplying the detected position by a sensor spring constant, calculates a detected pressure of a pressure sensor by adding the sensor spring pressure to the sensor viscous damping pressure, and outputs the sensor reaction force which is the detected pressure to calculate the detected speed.

Motor control apparatus, motor control method and motor control program

[Problem] To enhance a speed loop gain even in a three-inertia mechanical resonance system. [Solution] A motor control apparatus () for controlling a motor, includes: a speed estimator () configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to a motor model (); a first feedback gain (K) configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit () configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain (K); and a stabilizing compensator () configured to obtain the first differential speed in parallel with the first feedback gain (K), to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain (K).

Motor control apparatus

This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a phase compensation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The phase compensation part inputs the detected motor current and the voltage command and outputs, as the estimated current, the motor current in which a delay in phase of the motor current relative to the current command has been compensated.

Motor control apparatus having part for phase compensation

This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a current estimation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The current estimation part inputs the detected motor current and the voltage command and outputs the motor current in which an influence by a disturbance has been compensated for as the estimated current.

A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Motion controller and motor control system

A motor control device according to an embodiment includes a first subtractor, a speed controller, and a phase compensating speed observer. The first subtractor subtracts a speed reference from a speed feedback signal to obtain a speed deviation. The speed controller receives the speed deviation and outputs a first torque reference. The phase compensating speed observer receives the first torque reference and a speed of a controlled object including a motor, and outputs the speed feedback signal. The phase compensating speed observer includes a delay element model having an integral element of an order optimally satisfying a setting condition based on a degree of easiness for implementation and a degree of usefulness for phase delay compensation of the speed feedback signal to the speed reference.

Motor control device

A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.

Motor controlling device, motor controlling method and machinery system

A motor control apparatus includes a position detector to detect a position of a motor. A speed operator calculates a first speed of the motor. A position controller outputs a first speed command. A speed controller acquires a difference between the first speed command and a second speed of the motor to output a first torque/thrust command. A phase compensator includes a lowpass filter to advance a phase of the second speed, and acquires the first speed and the first torque/thrust command to output the second speed. An inertia variation inhibitor includes a disturbance observer estimating a disturbance torque/thrust. The inertia variation inhibitor acquires the first speed and a second torque/thrust command, and adds the disturbance torque/thrust to the first torque/thrust command to output the second torque/thrust command. A torque/thrust controller acquires the second torque/thrust command to control a motor torque/thrust.

A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject includes a command device and a plurality of motor control devices. The control subject includes the motors, a plurality of position detectors configured to detect a plurality of position information of the motors respectively, and at least one coupler connecting movable axes of the motors. The command device includes a first position controller which is configured to compute a work position based on the position information detected by the position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command. Each of the motor control devices includes a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the position information.

Synchronous control apparatus

In a feedback control apparatus comprising a controller, a control object to be controlled by the controller, and an observer for inputting a control output from the control object and an output of the controller and setting an output of a control object model to be a feedback signal, the observer includes an observer compensator for inputting a difference between the control output and an output of an element model and inputs, to the control object model, a sum of an output of the observer compensator and the output of the controller. Consequently, a control system having an excellent response performance can be constituted and a stable observer can easily be constituted.

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Kitakyushu, Japan

Yasuhiko Kaku