Title:
モータ制御装置及びモータ制御方法
Document Type and Number:
Japanese Patent JP7358942
Kind Code:
B2
Abstract:
To provide a motor controller and a control method which can realize more satisfactory friction compensation than in a conventional manner when a mechanical load having friction torque is driven.SOLUTION: In a motor controller for driving a mechanical load 40 having friction torque, and having: velocity feedback control means 20 which operates so that a velocity actual value of a motor follows a velocity command; and current control means 30 for controlling current of the motor on the basis of a torque command to be output from the velocity feedback control means 20, it comprises: friction compensation means 10 for calculating a friction compensation value from the velocity command of the motor; and addition means 52 for adding the friction compensation value to the torque command, the friction compensation means 10 restricts an absolute value of a value obtained by adding a multiplication result between an arithmetic value by a low-pass filter 11 and a first constant, and the previous value of the friction compensation value calculated one cycle before to the velocity command by a second constant to be considered as a current value of the friction compensation value.SELECTED DRAWING: Figure 1
Inventors:
Takashi Hayashi
Application Number:
JP2019213770A
Publication Date:
October 11, 2023
Filing Date:
November 27, 2019
Export Citation:
Assignee:
Fuji Electric Co., Ltd.
International Classes:
H02P29/10; G05D3/12
Domestic Patent References:
| JP4121086A | ||||
| JP2005170257A | ||||
| JP2000103349A | ||||
| JP11143548A | ||||
| JP201937129A |
Foreign References:
| WO2017154476A1 |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito
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