Title:
モータ制御装置及びモータ制御方法
Document Type and Number:
Japanese Patent JP7462538
Kind Code:
B2
Abstract:
To stabilize motor operation control at an initial operation time in a motor equipped with a reduction gear part, by eliminating the impact of a gear backlash at the initial operation time in accordance with an actual operation.SOLUTION: A motor control device 1 drivingly controls an actuator 42 that uses, as a driving source, a motor 51 equipped with a reduction gear part 52. The control device 1 includes a dead time compensation part 20 that compensates a dead time which is generated by gear backlash. The dead time compensation part 20 estimates a phase current value from an actual motor rotational speed by using a reverse motor model, has a grasp of, as a current value deviation, a deviation of an output caused by the dead time with respect to a command value, and calculates an estimated rotational speed for correcting a necessary phase current value based on the command value. The estimated rotational speed is sent to a rotational speed feedback part 8, and a phase current correcting value for correcting a necessary phase current for the motor 51 is calculated. The phase current correcting value is sent to a target phase current calculation part 11, the necessary phase current is corrected, and a target phase current value to be supplied to the motor 51 is calculated.SELECTED DRAWING: Figure 4
Inventors:
Toshikazu Omori
Application Number:
JP2020194588A
Publication Date:
April 05, 2024
Filing Date:
November 24, 2020
Export Citation:
Assignee:
Mitsuba Co., Ltd.
International Classes:
H02P29/00; G05D3/12
Domestic Patent References:
| JP2018170945A | ||||
| JP2020035124A | ||||
| JP2015049613A | ||||
| JP2018060328A |
Attorney, Agent or Firm:
Yasushi Takano