Title:
モータ制御装置とその制御方法
Document Type and Number:
Japanese Patent JP4807260
Kind Code:
B2
Abstract:
A motor controller including a position control section that generates a speed command based on a position command and a motor position, a speed control section that generates a torque command based on the speed command and a motor speed, and a motor driving section that generates a motor current based on the torque command. The motor controller has a speed feed forward command generating section that generates a speed feed forward command by differentiating the position command. A model control section generates a model torque command based on the speed feed forward command and a model speed. An inertia identifying section identifies inertia based on the ratio of an integrated value of a motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of the model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.
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Inventors:
Eri Yamanaka
Nobuhiro Umeda
Kenichi Murata
Nobuhiro Umeda
Kenichi Murata
Application Number:
JP2006552896A
Publication Date:
November 02, 2011
Filing Date:
January 06, 2006
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
H02P29/00; G05B13/02; G05D3/12
Domestic Patent References:
| JP2001218488A | 2001-08-10 | |||
| JP2000172341A | 2000-06-23 |
Foreign References:
| WO1996037039A1 | 1996-11-21 |