Title:
電動機制御装置及び衝突検出方法
Document Type and Number:
Japanese Patent JP7176255
Kind Code:
B2
Abstract:
To provide an electric motor control device and a collision detection method in which the accuracy of detecting collisions is improved by taking an electric motor speed into consideration in determining a collision of a load machine.SOLUTION: The electric motor control device includes a disturbance observer 9 that estimates a disturbance torque which acts on an electric motor 2 for driving a load machine 1 from the load machine 1 by using a torque command value and a speed of the electric motor 2, a differentiator 10 that calculates the time change of the estimated disturbance torque obtained by the disturbance observer 9, a collision detector 11 that detects a collision of the load machine 1 with an obstacle on the basis of an output from the differentiator 10, and a collision controller 12 and a speed controller 7 for controlling the speed of the electric motor 2 to a safety side at a time of detection of the collision. The collision detector 11 changes a threshold for detecting collisions such that the threshold is proportional to the speed within a fixed speed range of the electric motor 2.SELECTED DRAWING: Figure 1
Inventors:
Takayuki Kaneko
Application Number:
JP2018127365A
Publication Date:
November 22, 2022
Filing Date:
July 04, 2018
Export Citation:
Assignee:
Fuji Electric Co., Ltd.
International Classes:
H02P29/024
Domestic Patent References:
| JP11282540A | ||||
| JP2005100143A | ||||
| JP2008253132A | ||||
| JP2001051721A | ||||
| JP2000052286A |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito