Title:
BACKLASH CONTROL DEVICE AND BACKLASH CONTROL METHOD IN ELECTRIC MOTOR DRIVE SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/188880
Kind Code:
A1
Abstract:
The present invention improves the operation performance of an electric motor drive system for driving a load via a gear by outputting an appropriate torque in a backlash zone. This backlash control device of an electric motor drive system for driving a load via a gear by an electric motor connected to an inverter is provided with: an acceleration torque switch 23 for adding, to a torque command T*, an acceleration torque for accelerating a torque within a backlash zone; and a friction compensation switch 26 for adding a friction compensation torque for canceling a torque component in a direction opposite to a direction of exiting from the backlash zone. The backlash control device determines the backlash zone according to a switch flowchart in a determination unit 22 on the basis of an estimated twisting angle θBL^, an estimated twisting angular speed ωBL^, and the torque command T* which are estimated and calculated using an internal model in a calculation unit 24, said internal model describing the electric motor drive system, and determines the ON/OFF of the switches 23, 26 and outputs a torque command T** considering backlash.
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Inventors:
OGAWA RYUICHI (JP)
NOMURA MASAKATSU (JP)
YAMAMOTO YASUHIRO (JP)
YANO JUNYA (JP)
NOMURA MASAKATSU (JP)
YAMAMOTO YASUHIRO (JP)
YANO JUNYA (JP)
Application Number:
PCT/JP2019/045022
Publication Date:
September 24, 2020
Filing Date:
November 18, 2019
Export Citation:
Assignee:
MEIDENSHA ELECTRIC MFG CO LTD (JP)
International Classes:
B60L15/20; B60L9/18; H02P27/06
Domestic Patent References:
| WO2016152650A1 | 2016-09-29 | |||
| WO2018020679A1 | 2018-02-01 |
Foreign References:
| JP2015156194A | 2015-08-27 | |||
| JP2017221045A | 2017-12-14 | |||
| JPH07110717A | 1995-04-25 |
Attorney, Agent or Firm:
KOBAYASHI, Hiromichi et al. (JP)
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