Title:
MOTOR CONTROLLER
Document Type and Number:
Japanese Patent JP2020202603
Kind Code:
A
Abstract:
To provide a motor controller capable of suppressing a speed deviation and a position deviation by generating friction compensation torque by considering behavior of load torque when a motor rotation direction is reversed and superposing the friction compensation torque on a torque command.SOLUTION: A motor controller for controlling speed or a position of a motor which drives a load having friction comprises: a speed control section 20 for generating a torque command so that a motor speed equivalent value follows a motor speed command; and a friction compensation section 10 for inputting a value obtained by multiplying an output of a code function to which the motor speed command or the motor speed equivalent value is inputted by a compensation torque set value to LPF 13 having a time constant to the same degree as delay of a change of load torque when a motor rotation direction is reversed to obtain friction compensation torque. A value obtained by adding the friction compensation torque to the torque command from the speed control section 20 is given to the motor as a final torque command.SELECTED DRAWING: Figure 1
Inventors:
HAYASHI TAKASHI
TAKAYAMA TETSUYA
TAKAYAMA TETSUYA
Application Number:
JP2019105805A
Publication Date:
December 17, 2020
Filing Date:
June 06, 2019
Export Citation:
Assignee:
FUJI ELECTRIC CO LTD
International Classes:
H02P29/00
Domestic Patent References:
| JP2006121806A | 2006-05-11 | |||
| JPH09319437A | 1997-12-12 |
Foreign References:
| WO2017154476A1 | 2017-09-14 |
Attorney, Agent or Firm:
Yuichi Morita