Title:
MOTOR CONTROL DEVICE, CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2017/175567
Kind Code:
A1
Abstract:
This motor control device is provided with: a speed control unit for calculating a current command via an integration operation using an integral value with respect to the difference between the moving speed of a target object that is moved by a motor and a speed command; a current control unit for applying a voltage to the motor on the basis of the current command; and a contact determination unit for determining whether or not the target object is in contact with another object on the basis of the moving speed of the target object and the current flowing in the motor. When the contact determination unit determines that the target object is in contact with another object, the speed control unit calculates the current command by performing an integration operation using the integral value when the current value of the current flowing in the motor reaches a threshold value used for contact determination.
Inventors:
NATORI TAKASHI (JP)
NAKAYAMA HIDEYA (JP)
NAKAYAMA HIDEYA (JP)
Application Number:
PCT/JP2017/010913
Publication Date:
October 12, 2017
Filing Date:
March 17, 2017
Export Citation:
Assignee:
THK CO LTD (JP)
International Classes:
H02P25/064; G05B11/36
Foreign References:
| JP2013141386A | 2013-07-18 | |||
| JPS6176087A | 1986-04-18 | |||
| JP2000042865A | 2000-02-15 | |||
| JP2009171683A | 2009-07-30 |
Attorney, Agent or Firm:
SHIGA Masatake et al. (JP)
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