Omron Corporation

Yasushi Ono

Mamoru Egi

Yasumoto Mori

Yasutomo Kawanishi

Masahito Tanaka

Kenji Nakajima

Fumiaki Sato

Hitoshi Fukuhara

Shota Miyaguchi

Kotaro Asaba

Maki Nishimura

Sota Kaida

Takanobu Matsuura

An increase in noise can be suppressed. A motor control device includes N inverters configured to control N motors connected via power cables based on PWM signals, respectively, and a phase controller configured to determine phases of N carrier signals to be used for generating PWM signals to be supplied to the N inverters so that a sum of N vectors represented by noise amounts related to the respective N motors becomes zero.

Motor control device, motor control method, and program

A servo system including a control device and multiple servo drivers reduces noise resulting from switching. The servo system includes a control device and multiple servo drivers. Each servo driver includes a servo signal generator, a PWM calculator that generates a PWM control signal with a pulse being modulated, and an inverter. The PWM calculator performs a first process of generating, using a predetermined parameter set based on a circuit structure including the servo driver and the corresponding motor, a superimposed signal to be superimposed on the command signal, and the superimposed signal differs for each of control axes corresponding to the respective plurality of motors when the command signal is in a low voltage range. The PWM calculator performs a second process of generating the PWM control signal by adding the superimposed signal to the command signal and by comparing a resulting signal with a predetermined carrier signal.

Servo system

A processing apparatus acquires a first rise transition that is a rise transition of the temperature of a winding and a second rise transition that is a rise transition of the temperature detected by a temperature sensor in a state where voltage application for raising the temperature of the winding to a predetermined temperature is performed, determines a predetermined temperature characteristic model by calculating a predetermined parameter on the basis of the second rise transition, and further determines a winding temperature characteristic model by calculating a winding related parameter on the basis of the first rise transition.

Processing device, and determination method for winding temperature calculation model

A technique facilitates presetting of parameters for controlling a control target including a load device that has machine parameters such as inertia changeable in accordance with its posture or state. A parameter setting support apparatus () for supporting a control apparatus () in control parameter setting includes a first specifier () that specifies evaluation index values indicating control stability or control performance of the control apparatus () based on frequency response characteristics of a control target () in postures of the load device () having maximum inertia and minimum inertia, and a second specifier () that specifies a combined evaluation index value representing an evaluation index value in the posture of the load device () in operation based on the evaluation index values specified, by the first specifier (), in the postures of the load device () having maximum inertia and minimum inertia.

Parameter setting assistance device, parameter setting assistance method

A feedback gain and a speed feed-forward gain are adjusted. A method for adjusting control parameters for a control device that performs servo control on a control target includes calculating an upper limit of a feedback gain of a feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for speed feed-forward control set at a predetermined reference value, setting the feedback gain at an adjustment initial value lower than the upper limit, setting the speed feed-forward gain at the highest value within a settable range, and increasing the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with at least the speed feed-forward gain set at a predetermined increased value.

Parameter adjustment method for adjusting control parameters for device that performs servo control

A technique enables control parameter adjustment with a more accurate estimated inertia ratio for multiple servomotors. An adjustment support apparatus () supports adjustment of inertia ratios as control parameters for servo drivers () that drive multiple servomotors. The adjustment support apparatus () includes an inertia ratio obtainer () that obtains inertia ratios estimated by inertia ratio estimators () included in the servo drivers () and an inertia ratio setting control unit () that synchronizes inertia ratio settings and updates between the servo drivers ().

Adjustment support device, servo driver, control parameters adjustment method for plurality of servo motors, and program

The processing device includes: a temperature transition acquisition unit that acquires rising transition of the temperature of the winding in a state in which a first voltage is applied in order to raise a temperature of the winding to a first temperature and further acquires falling transition of the temperature of the winding in a state in which a second voltage is applied in order to lower the temperature of the winding to a second temperature that is lower than the first temperature after the temperature of the winding converges to the first temperature; and a decision unit that calculates stator-related parameters on the basis of the falling transition to decide a stator temperature characteristic mode and further calculates winding-related parameters on the basis of the rising transition and a stator temperature characteristic model to decide a winding temperature characteristic model.

Processing device

In order to improve usability during parameter adjustment, this adjustment device performs a simulation in which a set value of a servo parameter received during a slide operation period of a slider bar is reflected in a FFT analysis result of response characteristics of speed control or position control, and the simulation display of the frequency characteristics and phase characteristics is updated on the adjustment screen.

Servo parameter adjustment device and servo parameter adjustment method

Provided is an evaluation device that determines the necessity of a notch filter inserted in a control system that controls an electric motor by closed loop control. The evaluation device includes: a characteristic acquisition parts for changing a parameter associated with a characteristic of the notch filter from a first value, which is a prescribed value, to a second value, and acquiring a change in a frequency response characteristic of the electric motor when the notch filter is applied; and a determination parts for determining the necessity of the notch filter based on the change in the frequency response characteristic that has been acquired.

Evaluation device, evaluation method and control device

Provided is a motor control device generating a torque command such that a detection speed of a motor matches a command speed, and controlling the motor. The motor control device includes: a torque command differential component taking a differential of the torque command and obtaining a torque command differential value; a motor actual speed second order differential component taking a second order differential of the detection speed of the motor and obtaining a motor jerk; and a runaway detection component determining that the motor is in a runaway state in a case where an abnormal state in which a sign of the motor jerk and a sign of the torque command differential value do not match continues for a predetermined time or more. Accordingly, the runaway of the motor can be detected in a short time while the erroneous detection can be suppressed.

Motor control device, motor control system, runaway state detection method, and non-transitory computer readable storage medium

Provided is a motor control device having a function of estimating inductance and resistance of a motor for which inductance and resistance thereof are unknown. The motor control device includes a power converter, a current controller which calculates the voltage command input to the power converter using a detection result of a current value of a drive current of the motor, a current command generation unit which specifies a frequency for motor constant calculation on the basis of an electrical time constant of the motor, generates a sine wave of the frequency for motor constant calculation, and inputs the sine wave to the current controller as the current command, and a motor constant calculation unit which obtains a frequency response while the sine wave is input to the current controller as the current command, and calculates resistance and inductance of the motor from the obtained frequency response.

Motor control device

Control that is less likely to cause an overshoot is performed when an actual inertia value is yet to be determined. A development support apparatus sets a ratio of a position proportional gain to a velocity proportional gain to a value smaller than a ratio set when a servo driver has determined an actual inertia value of a load machine.

Adjustment apparatus, control parameter adjustment method, information processing program, and storage medium

A control device, by which a user causes a servo motor to perform desired operation without being conscious of a maximum torque of the servo motor while easily understanding the transmission characteristic, selects which one of sliding mode control and PID control is adopted to control a servo motor based on at least one of a position deviation and a velocity deviation.

Control device, control method, information processing program, and recording medium

The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus () includes: a motor control part (), generating a driving torque instruction value used to enable the servo motor () to perform driving based on a detection value of an encoder () that performs detection on a rotational state of a servo motor (); and a model control part (), generating a model torque instruction value, and outputting the model torque instruction value to the motor control part (), where the model control part () has a model torque limiter () that limits the model torque instruction value within a first limit range.

Motor control apparatus, motor control method, program, and recording medium

A user can cause a servo motor to perform desired operation without occurrence of overshoot and hunting while being unconscious of a maximum torque that can be output from the servo motor. A control device that implements model following control includes a feedforward controller that implements sliding mode control.

Growing community of inventors

Kusatsu, Japan

Yasushi Ono