Kabushiki Kaisha Yaskawa Denki

Yasuyuki Takei

Tadashi Okubo

Toshinobu Kira

Makoto Akama

Kazuhide Takao

Wennong Zhang

Yusuke Oka

Mitsujiro Sawamura

Takashi Kitazawa

Atsushi Imadu

This disclosure discloses a motor control device including a main circuit, a voltage detector, and a controller. The controller includes a position controller and a speed controller, The position controller generates a speed command. The speed controller generates a torque command and controls a inverter based on the torque command. Further, the controller includes a torque limiter, and a speed matching instruction part. The torque limiter starts torque limiting by the torque command to a predetermined torque or less and cancels the torque limiting. The speed matching instruction part matches the speed command with a first position command speed after the cancellation of the torque limiting. The holding part calculates and holds an accumulated position deviation.

Motor control device

This disclosure discloses a motor control apparatus including a controller. The controller includes a position controller and a speed controller. The controller is configured to control the inverter on the basis of the torque command. The controller includes a torque limiter configured to start first torque limitation which limits a commanded torque based on the torque command to a first torque or less in a case where the voltage detector detects that the DC voltage falls below a predetermined voltage, and to cancel the first torque limitation in a case where the voltage detector detects that the DC voltage exceeds the predetermined voltage. The controller includes a speed limiter configured to limit a commanded speed based on the speed command to a first speed or less in a case where the torque limiter cancels the first torque limitation.

Motor control apparatus

A servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer for adding a disturbance compensation torque T, calculated from a torque command T* and an electric motor rotational speed &#x3c9;, to a torque command basic signal T*, calculated on the basis of a deviation between a speed command &#x3c9;* and a feedback speed &#x3c9;by a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T* and the electric motor rotational speed &#x3c9;, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed &#x3c9;.

Servo control apparatus

A motor controller supplies power to a motor and drives the motor, the motor including a position detector. The motor controller includes a velocity control unit which generates a torque instruction by using a velocity instruction and a velocity signal; a correction processing unit which Fourier-transforms the torque instruction, extracts first-, second-, and sixth-order frequency components from the Fourier-transformed torque instruction, extracts an order component having the largest spectrum from the extracted order components, and generates a sine wave correction signal; an adder which adds the sine wave correction signal to the torque instruction, and generates a new torque instruction; and a position-signal generation unit which generates a position signal by using a position detection signal of the position detector.

Motor controller

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.

In a method of automatically setting the vibration suppression filter, when a vibration detection portion detects a vibration A, a state variable frequency analysis portion analyzes the frequencies of data from a state variable trace portion to calculate a vibration frequency A, and the frequency characteristics of the vibration suppression filter is set based on vibration frequency A. A vibration level store portion stores the vibration level before the automatic setting of the vibration suppression filter, a filter setting selection portion compares the vibration level after the automatic setting with the vibration level before the automatic setting A. When the vibration level after the automatic setting is larger than the vibration level before the automatic setting, restoring of the setting of the vibration suppression filter to the state before the automatic setting Aand/or reducing the gain of a servo control portion.

Growing community of inventors

Kitakyushu, Japan

Yasuyuki Takei