CN101170294A - Electric machine controlling device and controlling device containing the same - Google Patents
Electric machine controlling device and controlling device containing the same Download PDFInfo
- Publication number
- CN101170294A CN101170294A CNA2007101618035A CN200710161803A CN101170294A CN 101170294 A CN101170294 A CN 101170294A CN A2007101618035 A CNA2007101618035 A CN A2007101618035A CN 200710161803 A CN200710161803 A CN 200710161803A CN 101170294 A CN101170294 A CN 101170294A
- Authority
- CN
- China
- Prior art keywords
- control
- motor
- speed
- control parameter
- control assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a motor control device which can stabilize the work of the devices and restrain the lowering of the operational rate when the stabilization of factors is changed due to the vibration. The motor control device has a feedback loop which inputs the speed command or position command, detects the speed or position of the motor so as to conduct the feedback control, thus following the speed command or the position command. Meanwhile, the feedback loop includes more than one control parameter. The motor controller comprises a control performance judging unit which has the control performance index preset and a control parameter changing unit which designates control parameters to be changeable. When at least one control parameter is changed, the control performance judging unit judges whether the control performance index can be satisfied, and then continues the drive of the motor upon the satisfaction and stops the drive of the motor upon the dissatisfaction.
Description
Technical field
The control appliance that the present invention relates to motor control assembly and comprise motor control assembly, the continuation of moving when particularly control performance changes because of the Control Parameter/automatic judgement that stops and the electric machinery control device and the motor control assembly of action change.
Background technology
Fig. 6 is the figure that represents the structure of the motor control assembly that carries out common Position Control in the past.In Fig. 6, motor control assembly 108 drive motors 101.Motor 101 is connecting the load 102 by its driving.And then motor 101 is also connecting position detector 103, and position detector 103 detects the position of rotation θ m and the output of motor 101.
This control system constitutes input position instruction θ r, and detects the position of rotation of motor in order to follow the tracks of this position command, thereby carries out FEEDBACK CONTROL.And, in positioner 105 and speed control 106, be set the gain parameter that is used to carry out FEEDBACK CONTROL.
But such motor control assembly is when gain parameter is unsuitable setting or load characteristic when having changed because of timeliness changes etc. under the situation, and sometimes because the resonance between motor and the load, feedback control loop can produce vibration.
To such phenomenon, known following technology as the flat 4-217889 communique record of Japanese Patent Application Laid-Open, comprises the oscillation test unit, when detecting vibration, gain parameter is corrected to suitable value, and vibration is stopped.According to the invention that this patent gazette is put down in writing, the mechanical system resonance of the motion of servomotor and load and when vibrating, gain that can the correcting servo driver and vibration is stopped.
In addition, also known following technology as the record of Japanese Patent Application Laid-Open 2001-178188 communique, comprises the oscillation test parts, when judging vibration, stops by the driving that makes motor, thereby vibration is stopped.According to the invention that this patent gazette is put down in writing, can prevent that the flase drop of the vibration in the regular event of servomotor from surveying, and detect the vibration of servomotor accurately, thereby realize being in the fail safe of servo system of oscillatory regime and the raising of reliability.
But, in the technology that these vibrations that make feedback control loop in the past stop, having following problem.
The invention of being put down in writing as the flat 4-217889 communique of Japanese Patent Application Laid-Open, when detecting vibration, gain parameter is corrected to suitable value, make in the technology that stops of vibrating, though the oscillatory regime of motor stops, the situation of the control response decline of feedback control loop is in the majority.When the control response decline of feedback control loop, the relatively expectation action of the equipment that made up of motor and control device and become inadequate action sometimes.
For example, in sequentially-operating, consider that next bar action command can arrive before action is finished.Perhaps, when the driver element with other carried out synchronization action, the motor unit of motor that only comprises the control response decline of feedback control loop was not sometimes obtained synchronously.
In addition, as the invention of Japanese Patent Application Laid-Open 2001-178188 communique record, by being judged as when vibrating the driving of motor is stopped, thereby make in the technology that stops of vibrating, following problem is arranged, though the oscillatory regime that is motor stops, to needing time and labor before the driven motor once more, the running rate of equipment reduces.
Summary of the invention
Motor control assembly of the present invention has following structure.Have feedback control loop, this instruction of feedback control loop input speed or position command detect the rotary speed or the position of rotation of motor, thereby carry out FEEDBACK CONTROL, to follow the tracks of described speed command or described position command.This feedback control loop comprises more than one Control Parameter, and this motor control assembly comprises: the control performance judging unit is preestablished the control performance index that is associated with the rotary speed or the position of rotation of motor, and is measured the control performance of motor; And Control Parameter change unit, variable Control Parameter.When having changed at least one in the Control Parameter by this Control Parameter change unit, whether the control performance judgment unit judges satisfies the control performance index, and under situation about satisfying, continues the driving of motor, under ungratified situation, stops the driving of motor.In addition, the present invention includes electric machinery control device with this motor control assembly.
The present invention is by having above such structure, when change has taken place the stable grade of Control Parameter during because of vibration, can take into account the operating stably of equipment and suppresses running rate and reduce.
Description of drawings
Fig. 1 is the controlling party block diagram of the motor control assembly of embodiments of the present invention 1.
Fig. 2 is the flow chart of the control action of expression execution mode 1.
Fig. 3 is the flow chart of oscillation test of the oscillation test unit 9 of expression execution mode 1.
Fig. 4 is the block diagram of structure of the 1st control performance judging unit 11 of expression execution mode 1.
Fig. 5 is the controlling party block diagram of the motor control assembly of expression embodiments of the present invention 2.
Fig. 6 is a controlling party block diagram of representing the structure of motor control assembly in the past.
Embodiment
Below, based on accompanying drawing embodiments of the present invention are described.
(execution mode 1)
Fig. 1 is the controlling party block diagram of the motor control assembly of embodiments of the present invention 1.The motor control assembly of present embodiment has feedback control loop, and instruction of feedback control loop input speed or position command detect the rotary speed or the position of rotation of motor, thereby carry out FEEDBACK CONTROL, to follow the tracks of this input speed or input instruction.
This motor control assembly comprises: the 1st control performance judging unit 11, Control Parameter change unit 10, accept velocity calculator 4, positioner 5, the oscillation test unit 9 of accepting the output signal of velocity calculator 4, speed control 6 and torque controller 7 from the output signal of the position detector 3 of the position of detecting motor 1.
In addition, the motor control assembly of present embodiment is with the different of conventional art shown in Figure 6, is provided with oscillation test unit 9, Control Parameter change the 10, the 1st control performance judging unit 11 aspects, unit.And the structure that will comprise these unit replaces motor control assembly 108 as the 1st motor control assembly 8.
Feedback control loop comprises as the lower part: the speed control 6, torque controller 7, motor 1 of the speed of the positioner 5 of the position of control motor 1, control motor 1, detect motor 1 the position position detector 3 and according to the velocity calculator 4 of the information calculations speed of position detector 3.
Here, the circulation of this feedback control loop of simple declaration.At first, the positional information of the motor 1 that is obtained by position detector 3 and the deviation θ err between the position command θ r are imported into positioner 5.At positioner 5, position-based deviation θ err and Control Parameter, computing and output speed instruction vr.And the deviation between the velocity information vm of speed command vr and the motor 1 that obtained by velocity calculator 4 is imported into speed control 6.Based on velocity deviation and Control Parameter, computing torque instruction τ also exports at speed control 6.And torque controller 7 is controlled, and the output torque of feasible torque instruction τ that is imported and motor 1 is consistent.
Control Parameter change unit 10 has and is detecting under the situation of vibration, and the Control Parameter of at least more than one that is comprised in the change feedback control loop is so that the function of vibration convergence.
The 1st control performance judging unit 11 has: the function of measuring control performance; Will with position or the predefined control performance index of velocity correlation and the function that the control performance measurement result compares of motor; Function according to comparative result decision action; And the function of exporting the internal state of the 1st control performance judging unit 11.The control performance index is set the specification (spec) that can allow as the action that comprises the equipment of the 1st motor control assembly 8.For example, the location adjustment time as the control performance index is set to below the stipulated time Tn.
Fig. 2 is the flow chart of control action of the motor control assembly of expression present embodiment.In Fig. 2, at first, oscillation test unit 9 detects vibration (step S1) according to the speed v m as the output of velocity calculator 4.For example, as the flat 4-217889 communique record of Japanese Patent Application Laid-Open,, can judge whether to be oscillatory regime by observing acceleration as the variable quantity of the speed after the computing.About the detection method of this vibration, back explanation details (with reference to Fig. 3).
When oscillation test unit 9 detects oscillatory regime, this testing result is outputed to Control Parameter change unit 10.Control Parameter change unit 10, the Control Parameter of at least more than one that is comprised in the change feedback control loop is so that vibration convergence (step S2).Here, as Control Parameter the position proportional gain Kp that for example positioner 5 comprised, the speed proportional gain Kv that speed control 6 comprised etc. are arranged.By reducing these position proportional gain Kp and speed proportional gain Kv, make the vibration convergence.In addition, except position proportional gain Kp and speed proportional gain Kv,, under the situation of utilizing the rate integrating gain, also can change the rate integrating gain as Control Parameter.
And, changed the such information of Control Parameter from 10 outputs of Control Parameter change unit, and be imported into the 1st control performance judging unit 11.Input according to this modification information, use location instruction θ r and as difference, the offset difference of ascending the throne θ err and position command θ r between the motor position of rotation θ m of the output of position detector 3 measures from the finish time of position command θ r and plays time till position deviation θ err becomes below the setting (finishing scope hereinafter referred to as the location), promptly locatees the adjustment time.Then, comparison is as the stipulated time Tn and the measurement result (step S3, step S4) of control performance index.
Therefore,, then stop, thereby stop the driving (step S5) of motor 1 by the action that makes torque controller 7 if measurement result does not satisfy the control performance index.In addition, owing to do not satisfy the control performance index, the Stop message of the driving of motor 1 is output to outside (step S6).Like this, can be to the Stop message of the driving of outside output motor 1, and to the outside the pass on driving of motor 1 stops.
On the other hand,, then be judged as in the specification that can allow, still continue action (step S7) as the action that comprises the equipment of the 1st motor control assembly 8 if measurement result satisfies the control performance index.In addition, the information that changed of Control Parameter is output to outside (step S8).Like this, the message of change parameter can be passed on to the outside.Thereby, outside people can predict situation that the mechanical property of the The whole control object that comprises motor 1 or load 2 changes and stop to driving till life-span.
Fig. 3 is the flow chart of oscillation test that expression is applied to the oscillation test unit 9 of motor control assembly of the present invention.
With regard to detecting vibration, at first, this sub-value V1 of rate signal and speed difference (acceleration) the α n of last sub-value V2 are carried out computing (step S11) by oscillation test unit 9.Then, the size (step S12) of the absolute value of the speed difference α n of comparison this sub-value V1 and last sub-value V2 and the value α 1 that predesignates.
In step S12, the result after the size of the absolute value of speed difference α n and predetermined value α 1 relatively, | under the situation of α n|＞α 1, the symbol of judging α n whether reverse (step S13).On the other hand, exist | under the situation of α n|≤α 1, return step S11 once more, the speed difference α n of this sub-value of computing V1 and last sub-value V2.
In step S13, under the situation that the symbol of judging α n has reversed, counter cnt is added 1 (step S14).On the other hand, under the situation that the symbol of judging α n does not reverse, return step S11 once more, the speed difference α n of this sub-value of computing V1 and last sub-value V2.
Then, through stipulated time T the time (step S15), counter cnt is reset.At this moment, judge that whether number that counter cnt stores is than setting S many (step S16).
Wherein, the number of being stored in counter cnt is under the situation more than the setting S, to be judged as vibrate (step S17).On the other hand, under the situation about lacking of the number of in counter cnt, being stored than setting S, return step S11 once more, the speed difference α n between this sub-value of computing V1 and the last sub-value V2.
Like this, the present invention changes at least one Control Parameter that feedback control loop comprised by when detecting vibration, thereby suppresses vibration, and makes the equipment that comprises motor control assembly become stable status.The control performance that measurement changes because of Control Parameter change, and and compare according to the position of predefined motor or the control performance index that relation determined between the speed, automatically judge the driving that continues still to stop motor 1.Therefore, the running rate of motor control assembly can be reduced to below the needs, and can when vibration, make operate condition stable.
Fig. 4 is the skeleton diagram of structure of the 1st control performance judging unit 11 of the expression motor control assembly 1 that is applied to embodiments of the present invention 1.
The 1st control performance judging unit 11 comprises as the lower part: control performance measuring unit 111 is used for measurement and positioning and adjusts the time; Control performance comparing unit 112, the location that is used for relatively this measurement is adjusted the time and is adjusted time index as the location of control performance index; And action decision unit 113, decide action by the result who is transfused to this comparison.
For the 1st control performance judging unit 11, when being transfused to the information that Control Parameter changed, position command θ r and motor position of rotation θ m are transfused to control performance measuring unit 111, measure to become the location from finish time of position command θ r to position deviation θ err and finish scope with the time of upper/lower positions, promptly locate the adjustment time.
At control performance comparing unit 112, relatively locate the adjustment time and positioning time index.
Result after control performance comparing unit 112 compares is imported into action decision unit 113, and decision will be selected one of them action that stops or continuing drive motors after this.That is, if in control performance comparing unit 112, the location adjustment time is adjusted for the location in the scope of time index, then continues drive motors in 113 decisions of action decision unit.On the other hand, if in control performance comparing unit 112, the location adjustment time is adjusted for the location outside the scope of time index, and then decision stops drive motors in action decision unit 113.
In addition, if the location adjustment time is adjusted for the location in the scope of time index, then the 1st control performance judging unit 11 continues drive motors as internal state, and changes to outside output Control Parameter.In addition, if the location adjustment time is adjusted for the location outside the scope of time index, then as internal state, output will stop drive motors to the outside.
If use the information export from 11 pairs of outsides of the 1st control performance judging unit, then can feed back to for example high-level device or associate device, thereby the action of entire equipment or associate device is stopped, speed is slowed down etc. set suitable state for.
In addition, in the present embodiment, thereby be illustrated with the situation that detects vibration change Control Parameter, but, be not limited thereto, take place to judge whether to satisfy the control performance index under the situation of change if having in Control Parameter, thereby carry out the continuation of the driving of motor 1/stop the function of judgment processing, then can access same effect.For example, have that equipment does not satisfy the situation of movement standards owing to Control Parameter is altered to that wrong value is vibrated or control performance reduces.Same effect is also arranged this moment.
In addition, in the present embodiment, illustrated that the information of the outside being exported from 11 outputs of the 1st control performance judging unit is illustrated, but also can be from motor control assembly 8 outputs.
In addition, in the present embodiment, illustrated that positioner 5 and speed control 6 all are carried out the situation of proportional control, still,, also can change its Control Parameter as other control structure such as proportional plus integral control.
In addition, in the present embodiment, the situation of Position Control has been described, but also can be other controls such as speed control.
In addition, use is illustrated the example of control performance index as the location adjustment time, but the command speed in the time of also can be with the instruction of overshoot (over shoot) or certain speed and other controlled quentity controlled variables such as velocity deviation of motor are as the control performance index.
In addition, also can locate the controlled quentity controlled variable of control performances such as adjustment time as the control performance index with estimating indirectly.For example, according to the value of speed proportional gain, if fixed time conversion which kind of degree in location is known, then can be with the speed proportional gain as the control performance index.
In addition, in the present embodiment, the situation of using electric rotary machine is illustrated, but also can uses the Direct Action Type motor.
In addition,, be not only the method for explanation in the present embodiment,, can use other detection method so long as can detect the method for vibration about oscillation test.For example, detect the detection method of electric current by the use of 2001-No. 178188 communiques of Japanese Patent Application Laid-Open record and the method that detects according to the size and the continuation of the high fdrequency component that motor speed comprised etc.
(execution mode 2)
Motor control assembly based on description of drawings embodiment of the present invention 2.Fig. 5 is the controlling party block diagram of the equipment that comprises motor control assembly 18 15 of execution mode 2.In Fig. 5, to Fig. 1 components identical of execution mode 1 explanation of previous record give identical with reference to label, and detailed.
The 1st control performance judging unit 11 in the motor control assembly 8 of replacement execution mode 1, the motor control assembly 18 of present embodiment 2 comprises the 2nd control performance judging unit 12, instruction generation unit 13, and different at the motor control assembly 8 of be connected with associated apparatus 14 this respect and execution mode 1.
In Fig. 5, same with execution mode 1, detecting vibration, and during at least one Control Parameter that is comprised in the Control Parameter change unit 10 change feedback control loops, changing the such information of Control Parameter and be imported into the 2nd control performance judging unit 12.The 2nd control performance judging unit 12 has: measure the function of control performance, with the predefined control performance index of the position of motor or velocity correlation, according to the function of measurement result decision action and the function of exporting the internal state of the 2nd control performance judging unit 12.Control performance for example is the location adjustment time.
In the time of will changing the such information of Control Parameter from Control Parameter change unit 10 and be input to the 2nd control performance judging unit 12, measure reach position command θ r and as the output of position detector 3, be till the location of the difference between the motor position of rotation θ m is finished below the range Theta err time, promptly locate the adjustment time.
When the location changes according to Control Parameter the adjustment time, sometimes and other associate device 14 between sequential processes or synchronization action aspect produce uncomfortable situation.Therefore, for example to locate the adjustment time slack-off if judge according to measurement result, then output to other the instruction of associate device 14 or the Control Parameter of other associate device 14 by the change of instruction generation unit 13, make consistent with it and do not take place aspect sequential processes or the synchronization action bad.Perhaps, judge control performance for the inadequate situation of the action of equipment under, stop by action, and the driving of motor 1 is stopped, the information that the information that while output order or Control Parameter have changed or the driving of motor 1 stop torque controller 7.
Like this, detecting when vibration,, thereby suppressing vibration, making the equipment 15 that comprises motor control assembly 18 become stable status by at least more than one the Control Parameter that is comprised in the change feedback control loop.And then, measure control performance, and judge the variation of control performance, and send instruction, make do not producing uncomfortable situation aspect sequential processes or the synchronization action, stop, simultaneously entire equipment being stopped in the Control Parameter of other associate device of change or with the driving of motor 1.Handle by this, make the equipment 15 that comprises motor control assembly 18 become stable status, and the running rate that comprises the equipment 15 of motor control assembly 18 can be reduced to below the needs, and can make operate condition stable.
In addition, if use the information of exporting from 12 pairs of outsides of the 2nd control performance judging unit, then the user can easily grasp and produce change in the action of equipment 15.
In addition, in the present embodiment, thereby be illustrated with the situation that detects vibration change Control Parameter, but be not limited thereto, take place in Control Parameter under the situation of change, if the Control Parameter of measuring control performance and alteration command or other associate device is arranged or, then can access same effect with the function that the driving and the entire equipment of motor 1 stops.When for example, existing Control Parameter to be altered to wrong value and produce that vibration or control performance reduce and the movement standards of situation do not satisfy to(for) equipment.Under these circumstances, same effect is also arranged.
In addition, in the present embodiment, the information of the outside being exported from 12 outputs of the 2nd control performance judging unit has been described, but also can be from equipment 15 outputs that comprise motor control assembly 18.
In addition, use the example of control performance index as the location adjustment time is illustrated, but other controlled quentity controlled variables such as deviation between the speed of command speed also can be with overshoot or certain speed instruction time the and motor are as the control performance index.Perhaps, also can locate the controlled quentity controlled variable of control performances such as adjustment time as the control performance index with estimating indirectly.For example, if according to the value of speed proportional gain, which kind of degree the location fixed time changes is known, then can be with the speed proportional gain as the control performance index.
In addition, in the present embodiment, illustrated and used the situation of electric rotary machine, but also can use the Direct Action Type motor.
In addition,, be not only the method for explanation in the present embodiment,, just can use other detection method so long as can detect the method for vibration about oscillation test.For example, there is the use of 2001-No. 178188 communiques of Japanese Patent Application Laid-Open record to detect the detection method of electric current or the method that detects according to the size and the continuation of the high fdrequency component that motor speed comprised etc.
Claims (10)
1. a motor control assembly has feedback control loop, and this feedback control loop is input speed instruction or position command, and detect the speed or the position of motor, thereby carry out FEEDBACK CONTROL, following the tracks of described speed command or described position command,
Described feedback control loop comprises more than one Control Parameter,
Described motor control assembly comprises: the control performance judging unit is preestablished the control performance index that is associated with the speed or the position of described motor, and is measured the control performance of described motor; And Control Parameter change unit, variable described Control Parameter,
Changed by described Control Parameter change unit in the described Control Parameter at least one the time, whether described control performance judgment unit judges satisfies described control performance index, under situation about satisfying, continues the driving of described motor, and under ungratified situation, stop the driving of described motor.
2. motor control assembly as claimed in claim 1, wherein,
Described control performance judging unit comprises the measurement and positioning control performance measuring unit of adjustment time, and described control performance index is adjusted the time based on described location and is set.
3. motor control assembly as claimed in claim 1, wherein,
The oscillation test unit that also comprises the vibration that detects described feedback control loop, when detecting vibration in described oscillation test unit, described Control Parameter change unit changes at least one in the described Control Parameter.
4. motor control assembly as claimed in claim 3, wherein,
The velocity calculator that also comprises the rotary speed that detects described motor, described oscillation test unit as this sub-value of the rate signal of described velocity calculator output and the speed difference between the last sub-value, detects vibration by computing.
5. motor control assembly as claimed in claim 3, wherein,
At least one the described Control Parameter that changes when detecting vibration is any one in position proportional gain, speed proportional gain, the rate integrating gain.
6. motor control assembly as claimed in claim 1, wherein, when change took place at least one in described Control Parameter, the modification information of described Control Parameter was output to the outside.
7. motor control assembly as claimed in claim 1, wherein,
When the driving of described motor had stopped because of not satisfying described control performance index, the driving Stop message of described motor was output to the outside.
8. motor control assembly as claimed in claim 1, wherein,
Described control performance judging unit has the function of control associated apparatus, and when change had taken place at least one in described Control Parameter, the control command of described associated apparatus was changed.
9. motor control assembly as claimed in claim 8, wherein,
Described associated apparatus is other motor control assembly or data processing equipment.
10. a control appliance has claim 1 to any described motor control assembly of claim 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006256660A JP2008079441A (en) | 2006-09-22 | 2006-09-22 | Motor controller and controller comprising the same |
| JP256660/06 | 2006-09-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101170294A true CN101170294A (en) | 2008-04-30 |
| CN101170294B CN101170294B (en) | 2010-07-14 |
Family
ID=39350933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101618035A Expired - Fee Related CN101170294B (en) | 2006-09-22 | 2007-09-24 | Electric machine controlling device and controlling device containing the same |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2008079441A (en) |
| CN (1) | CN101170294B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102396151A (en) * | 2009-04-14 | 2012-03-28 | 三菱电机株式会社 | Motor control device |
| CN102624298A (en) * | 2011-01-25 | 2012-08-01 | 日本电产高科电机控股公司 | Motor |
| CN102939709A (en) * | 2010-04-16 | 2013-02-20 | 戴森技术有限公司 | Controller for a brushless motor |
| CN103493364A (en) * | 2011-04-18 | 2014-01-01 | 三菱电机株式会社 | Control apparatus for AC motor |
| CN103825506A (en) * | 2012-11-19 | 2014-05-28 | 财团法人工业技术研究院 | Stall controlled vacuum apparatus |
| CN104205610A (en) * | 2012-04-05 | 2014-12-10 | 罗伯特·博世有限公司 | Method and device for electrodynamic braking of universal motor |
| CN104300861B (en) * | 2014-08-10 | 2017-02-15 | 合肥工业大学 | Method for controlling three-phase permanent magnet synchronous motor |
| CN106909125A (en) * | 2016-12-26 | 2017-06-30 | 武汉华中数控股份有限公司 | A kind of monitoring system and method for motor processability index |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5159456B2 (en) * | 2008-06-16 | 2013-03-06 | 三菱電機株式会社 | Oscillation component extraction device |
| US9122258B2 (en) * | 2011-05-24 | 2015-09-01 | Mitsubishi Electric Corporation | Motor control device |
| DE102012205876A1 (en) * | 2012-04-11 | 2013-10-17 | Robert Bosch Gmbh | Method and device for the electrodynamic braking of a universal motor |
| CN113199473B (en) * | 2021-04-21 | 2023-04-11 | 上海飒智智能科技有限公司 | Multi-axis mechanical arm control parameter group self-tuning method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1026444C (en) * | 1987-04-03 | 1994-11-02 | 株式会社日立制作所 | PID control system |
| JP2759698B2 (en) * | 1990-02-09 | 1998-05-28 | 松下電器産業株式会社 | Motor control device |
| JP3178202B2 (en) * | 1992-12-10 | 2001-06-18 | 松下電器産業株式会社 | Servo motor control parameter adjustment device and adjustment method |
| US5475291A (en) * | 1992-12-10 | 1995-12-12 | Matsushita Electric Industrial Co., Ltd. | Adjustment device for adjusting control parameters of a servo motor and an adjustment method therefor |
| JP2001178188A (en) * | 1999-12-21 | 2001-06-29 | Japan Servo Co Ltd | Device for detecting oscillations of servomotor and detecting method therefor |
| JP3526022B2 (en) * | 2000-03-06 | 2004-05-10 | 株式会社安川電機 | Oscillation criticality detection method for servo control system |
| JP2002095290A (en) * | 2000-09-11 | 2002-03-29 | Okuma Corp | Motor controller |
-
2006
- 2006-09-22 JP JP2006256660A patent/JP2008079441A/en not_active Withdrawn
-
2007
- 2007-09-24 CN CN2007101618035A patent/CN101170294B/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102396151A (en) * | 2009-04-14 | 2012-03-28 | 三菱电机株式会社 | Motor control device |
| CN102396151B (en) * | 2009-04-14 | 2014-07-02 | 三菱电机株式会社 | Motor control device |
| CN102939709A (en) * | 2010-04-16 | 2013-02-20 | 戴森技术有限公司 | Controller for a brushless motor |
| CN102939709B (en) * | 2010-04-16 | 2016-03-16 | 戴森技术有限公司 | For the controller of brushless motor |
| CN102624298A (en) * | 2011-01-25 | 2012-08-01 | 日本电产高科电机控股公司 | Motor |
| CN102624298B (en) * | 2011-01-25 | 2016-07-13 | 日本电产高科电机控股公司 | Motor |
| CN103493364A (en) * | 2011-04-18 | 2014-01-01 | 三菱电机株式会社 | Control apparatus for AC motor |
| US9337754B2 (en) | 2011-04-18 | 2016-05-10 | Mitsubishi Electric Corporation | Control apparatus for AC motor |
| CN103493364B (en) * | 2011-04-18 | 2016-08-17 | 三菱电机株式会社 | The control device of ac motor |
| CN104205610B (en) * | 2012-04-05 | 2017-11-14 | 罗伯特·博世有限公司 | The method and apparatus for for electrodynamics braking general motor |
| CN104205610A (en) * | 2012-04-05 | 2014-12-10 | 罗伯特·博世有限公司 | Method and device for electrodynamic braking of universal motor |
| US10224838B2 (en) | 2012-04-05 | 2019-03-05 | Robert Bosch Gmbh | Method and device for electrodynamic braking of a universal motor |
| CN103825506A (en) * | 2012-11-19 | 2014-05-28 | 财团法人工业技术研究院 | Stall controlled vacuum apparatus |
| CN103825506B (en) * | 2012-11-19 | 2017-03-01 | 财团法人工业技术研究院 | Stall controlled vacuum apparatus |
| CN104300861B (en) * | 2014-08-10 | 2017-02-15 | 合肥工业大学 | Method for controlling three-phase permanent magnet synchronous motor |
| CN106909125A (en) * | 2016-12-26 | 2017-06-30 | 武汉华中数控股份有限公司 | A kind of monitoring system and method for motor processability index |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2008079441A (en) | 2008-04-03 |
| CN101170294B (en) | 2010-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101170294B (en) | Electric machine controlling device and controlling device containing the same | |
| US20170063261A1 (en) | Motor control apparatus provided with magnetic flux control unit, and machine learning apparatus and method thereof | |
| JP4698656B2 (en) | Control system and control support device | |
| US20110221378A1 (en) | Motor controller | |
| US9977411B2 (en) | Motor control apparatus with magnetic flux controller and machine learning apparatus and method therefor | |
| US7030581B1 (en) | Motor controller | |
| CN112601863B (en) | Construction machine and evaluation device | |
| CN102636040B (en) | Self-study furnace temperature control method and control system | |
| JP6290619B2 (en) | Motor control device | |
| CN105917570A (en) | Control parameter adjustment method used in electric motor control device and electric motor control device using the control parameter adjustment method | |
| CN103176410A (en) | Simulator for estimating life of robot speed reducer | |
| JP4464084B2 (en) | Method for determining characteristic parameters for controlling a drive system with an electric motor | |
| JPWO2004008624A1 (en) | Servo controller gain adjustment method | |
| JP4166157B2 (en) | Electric motor control device | |
| WO2006022276A1 (en) | Remote maintenance system | |
| JP2950149B2 (en) | Auto tuning controller | |
| JP2007084189A (en) | Door controlling device for elevator | |
| CN110875699B (en) | Interference observer, control device, machine tool, and interference estimation method | |
| JP2004328829A (en) | Method and device for controlling motor | |
| US7733046B2 (en) | Motor controller and control method thereof | |
| US11316452B2 (en) | Electronic device and control method thereof | |
| JPH0670567A (en) | Automatic setting method of control gain for motor and detecting method of backlash | |
| WO2022113388A1 (en) | Servo parameter adjustment method and adjustment device | |
| JPH07107766A (en) | Servogain-parameter tuning apparatus | |
| WO2019028091A1 (en) | Method and apparatus for controlling a mechanical tester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100714 Termination date: 20130924 |