Title:
MOTOR CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2002/005414
Kind Code:
A1
Abstract:
A position control unit (12) comprises a first torque instruction generating means for outputting a value obtained by multiplying the difference between a position instruction and a motor position by the square of a main parameter kg and then by an auxiliary gain kp, a second torque instruction generating means for outputting a value obtained by integrating the difference between a position instruction and a motor position and then multiplying the integrated value by the cube of kg and by an auxiliary gain ki, a third torque instruction generating means for outputting a value obtained by differentiating the difference between a position instruction and a motor position after passing the difference through a low pass filter and then by multiplying the differentiated value by kg and by an auxiliary gain kd, and an addition means for adding torque instructions in first through third torque instruction generating means for outputting to a torque filter unit (13). The above parameters kg, kp, ki, kd, tv of the position control unit, time constant tf of the torque filter unit, and current loop gain ka and integration time constant ta in a current control unit (14) are determined from specified calculation expressions by using a target response frequency $g(v)f only, or a load inertia value JL and a target response frequency $g(v)f, or a mechanical resonance frequency $g(v)H, antiresonant frequency $g(v)L and a target response frequency $g(v)f.
More Like This:
| JPS61221938 | SEQUENCE CIRCUIT |
Inventors:
TSURUTA KAZUHIRO (JP)
Application Number:
PCT/JP2001/004712
Publication Date:
January 17, 2002
Filing Date:
June 04, 2001
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
TSURUTA KAZUHIRO (JP)
TSURUTA KAZUHIRO (JP)
International Classes:
G05B19/02; (IPC1-7): H02P7/00; G05B11/36; G05B13/02; G05D3/12
Foreign References:
| JPH1056790A | 1998-02-24 | |||
| JPH06319284A | 1994-11-15 | |||
| US5656906A | 1997-08-12 | |||
| JPH0883103A | 1996-03-26 | |||
| JPH08286707A | 1996-11-01 | |||
| JPH06242833A | 1994-09-02 | |||
| JPH06242803A | 1994-09-02 | |||
| JPH05224703A | 1993-09-03 | |||
| JPH04302306A | 1992-10-26 |
Download PDF:
Previous Patent: MEMS ACTUATOR WITH LOWER POWER CONSUMPTION AND LOWER COST SIMPLIFIED FABRICATION
Next Patent: OSCILLATOR CIRCUIT CONFIGURATION
Next Patent: OSCILLATOR CIRCUIT CONFIGURATION