Title:
MOTOR CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/238405
Kind Code:
A1
Abstract:
A motor control device (300) is provided with: a feedforward controller (7) that generates a motor torque command and a motor position command; an encoder (4) that outputs a motor position detection value; a machine edge sensor (2) that detects a target object and outputs a measured value; a signal processor (11) that calculates the position of a moving body on the basis of the measured value and outputs a machine edge position detection value; and a feedback torque command generation unit (50) that generates a feedback torque command on the basis of the machine edge position detection value, the motor position detection value, and the motor position command. When the machine edge sensor cannot detect the positional relationship between the moving body and a target point, the feedback torque command generation unit generates the feedback torque command on the basis of the motor position detection value and the motor position command, and when the machine edge sensor can detect the positional relationship between the moving body and the target point, the feedback torque command generation unit generates the feedback torque command on the basis of the motor position detection value, the machine edge position detection value, the motor position command, and a signal obtained by adding a delay time to the motor position command.
Inventors:
SEKIGUCHI HIROYUKI (JP)
KAI TAKASHI (JP)
IKEDA HIDETOSHI (JP)
UENO SHO (JP)
KAI TAKASHI (JP)
IKEDA HIDETOSHI (JP)
UENO SHO (JP)
Application Number:
PCT/JP2022/023527
Publication Date:
December 14, 2023
Filing Date:
June 10, 2022
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G05D3/12
Foreign References:
| JP2019003388A | 2019-01-10 | |||
| JP2001005529A | 2001-01-12 | |||
| US20070290637A1 | 2007-12-20 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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