Title:
モータ制御装置
Document Type and Number:
Japanese Patent JP7118249
Kind Code:
B2
Abstract:
This motor control device is provided with: a motor state observation unit (1) for outputting a motor state signal; a first torque estimation unit (21) for outputting a first estimation torque and a physical state variable on the basis of the motor state signal and a physical model parameter of a target machine (10); a physical model storage unit (22) for learning the physical model parameter so as to reduce the difference between an actual torque and the first estimation torque and storing the physical model parameter; a feature quantity generation unit (3) for generating a feature quantity from at least one of the first estimation torque, the physical state variable, and the motor state signal; a second torque estimation unit (41) for calculating, using machine learning including an autoregressive term in an input/output relation, a machine learning correction amount from the feature quantity and a machine leaning model parameter and adding the machine learning correction amount to the first estimation torque to output a second estimation torque; and a machine learning model storage unit (42) for learning the machine learning model parameter by learning with a teacher so that the machine learning correction amount approaches the difference between the actual torque and the first estimation torque and storing the machine learning model parameter.
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Inventors:
Takeyuki Kawada
Akio Saito
Hidetoshi Ikeda
Akio Saito
Hidetoshi Ikeda
Application Number:
JP2021514690A
Publication Date:
August 15, 2022
Filing Date:
April 16, 2019
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
H02P29/00
Domestic Patent References:
| JP2010183784A | ||||
| JP2001204190A |
Foreign References:
| WO2012133799A1 |
Attorney, Agent or Firm:
Takamura Jun