Title:
MOTOR CONTROL SYSTEM, METHOD FOR CONTROLLING MOTOR CONTROL SYSTEM, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/212305
Kind Code:
A1
Abstract:
A motor control system controls a motor (11) by controlling the current supplied to the motor (11) on the basis of a position command input from an upper level device and controls the operation of a reduction gear (13) having an input shaft (13a) connected to the output shaft (11a) of the motor (11) and an output shaft (13b) connected to a load. The motor control system includes: a detection unit (12) for detecting an event for detecting the rotational speed of the output shaft (11a) of the motor (11); a speed deviation generation unit (31) for generating a speed command on the basis of the position command and calculating a speed deviation that is the deviation between the speed command and the rotational speed of the output shaft (11a) of the motor (11) detected on the basis of the event detected by the detection unit (12); an angle transmission error compensation unit (34) for estimating the angle transmission error between the rotational angle of the output shaft (11a) of the motor (11) and the rotational angle of the output shaft (13b) of the reduction gear (13) and compensating, on the basis of the estimated angle transmission error, the speed command, the speed deviation, or the rotational speed of the output shaft (11a) of the motor (11) detected on the basis of the event detected by the detection unit (12); a current command generation unit (36) for generating a current command on the basis of the speed deviation; and a current control unit (23) for controlling the current supplied to the motor (11) on the basis of the current command.
Inventors:
TSUBOI NOBUTAKA
Application Number:
PCT/JP2018/019195
Publication Date:
November 22, 2018
Filing Date:
May 17, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
H02P29/40; B25J13/00; G05D3/12
Domestic Patent References:
| WO2007099635A1 | 2007-09-07 |
Foreign References:
| JP2008090692A | 2008-04-17 | |||
| JP2011204010A | 2011-10-13 | |||
| JP2014136260A | 2014-07-28 | |||
| JP2003223225A | 2003-08-08 |
Other References:
See also references of EP 3627693A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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