Title:
CONTROL METHOD OF MOTOR DRIVE DEVICE, MOTOR DRIVE DEVICE AND ROBOT DEVICE
Document Type and Number:
Japanese Patent JP2016005296
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a control method of a motor drive device capable of preventing vibrations from being generated without significantly changing a control command value and without significantly accelerating or decelerating the rotation of a motor when switching a control mode during driving, and the motor drive device.SOLUTION: A motor control section 81 determines whether a differential caused by a response speed difference between a control target value 135 that is generated on the basis of an external factor load to a motor 101a and a standard model value 134 that is a feedforward value generated on the basis of the control target value 135, is greater than a predetermined threshold. In the case where it is determined that the differential is equal to or greater than a predetermined threshold, a weighting ratio (h) of the standard model value 134 is adjusted to be reduced in a multistage manner in a weighting ratio of the control target value 135 and the standard model value 134. On the basis of the weighting ratio (h), weighted averaging is performed on the control target value 135 and the standard model value 134 and a result is outputted as a control command value 136.
Inventors:
IWATA MASUMITSU
Application Number:
JP2014122233A
Publication Date:
January 12, 2016
Filing Date:
June 13, 2014
Export Citation:
Assignee:
CANON KK
International Classes:
H02P29/00; B25J13/00; G05B13/04
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon
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