MOTOR CONTROLLER AND METHOD FOR MEASURING CHARACTERISTICS OF MECHANISM

Title:

MOTOR CONTROLLER AND METHOD FOR MEASURING CHARACTERISTICS OF MECHANISM

Document Type and Number:

WIPO Patent Application WO/2002/082202

Kind Code:

A1

Abstract:

A motor controller and a method for measuring the characteristics of a mechanism in which the frequency response of the mechanism is measured without causing positional shift or torque saturation and the frequency characteristics can be measured simultaneously with determination of inertia. A detector (20) detects the position of a motor and a difference unit (26) calculates the motor speed from the motor position. A command generating section (11) fixes a positional command at the current position. A positional control section (12) generates such a speed command as the positional command matches the motor position. A speed control section (13) generates such a torque command as the speed command matches the motor speed. An adder (16) adds a high speed sweeping wave from a disturbance signal generating section (15), as a torque disturbance, to a torque command from a torque filter section (14) thus producing a new torque command. A current control section (17) converts that torque command into a current command for driving a motor (18). A frequency response measuring section (21) receives a torque command from the adder (16) and a motor speed calculated at the difference unit (26) and measures the frequency response.

Inventors:

TSURUTA KAZUHIRO (JP)

Application Number:

PCT/JP2002/003047

Publication Date:

October 17, 2002

Filing Date:

March 28, 2002

Export Citation:

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Assignee:

YASKAWA DENKI SEISAKUSHO KK (JP)
TSURUTA KAZUHIRO (JP)

International Classes:

G05B19/19; G05B23/02; G05D3/12; H02P29/00; (IPC1-7): G05D3/12

Foreign References:

JPH1056790A	1998-02-24
JP2000217378A	2000-08-04
JPH10254550A	1998-09-25
JP2000197382A	2000-07-14
JPH11119804A	1999-04-30
JPH04118703A	1992-04-20

Other References: