CN102739132B - The control device of main shaft drives motor - Google Patents
The control device of main shaft drives motor Download PDFInfo
- Publication number
- CN102739132B CN102739132B CN201210091298.2A CN201210091298A CN102739132B CN 102739132 B CN102739132 B CN 102739132B CN 201210091298 A CN201210091298 A CN 201210091298A CN 102739132 B CN102739132 B CN 102739132B
- Authority
- CN
- China
- Prior art keywords
- speed
- value
- mentioned
- motor
- main shaft
- 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.)
- Active
Links
Abstract
The present invention provides control device, its solve the load that applies on main shaft big in the case of, slide between motor and main shaft, when utilizing main spindle's testing result in the feedback control of electromotor velocity, the control producing electromotor velocity becomes unstable such problem, and it has the speed controlling portion according to position command value output current instruction value；The current detecting part of the electric current of motor is flow through in detection；The First Speed presumption unit of the First Speed according to electric current presumption motor；The second speed presumption unit of the second speed of motor is estimated according to the spindle speed calculated based on the main spindle's detected by the sensor of setting near main shaft and gear ratio；And calculate the load operational part of the value of induction-motor load, speed controlling portion is in the case of the value of induction-motor load is more than predetermined value, use First Speed calculating current command value, in the case of the not enough predetermined value of value of induction-motor load, use second speed calculating current command value.
Description
Technical field
The present invention relates to the control device of main shaft drives motor, particularly to by having the control device of speed that the speed regulating mechanism of predetermined gear ratio controls the motor of drive shaft.The application claims priority for the Patent 2011-079162 in Japan's patent application filed in 31 days March in 2011, enters in this specification by referring to by its all group.
Background technology
In machine tool field, just using and the motor such as velocity sensor, so-called Speedless sensor induction conductivity be not set on the motor of main shaft driving lathe.In the control of this motor, use the speed of computed in software motor according to the electric current (actual current) flowing through motor, thus estimate the speed of motor.The control (referring for example to Japan's patent application, JP 2002-51594 publication) that device carries out the speed of motor according to the speed deduced is controlled for control motor.Typically, such motor, for only needing the purposes of speed controlling.
Fig. 7 represents the structure of the existing control device of the speed controlling motor that basis estimates as described above from the actual current flowing through motor.Existing control device 100 has first adder 2, speed controlling portion 3, current control division 4, power amplifier 5, current detecting part 6 and speed estimating portion 70, controls lathe 20.
First adder 2 exports after deducting the presumption speed exported by speed estimating portion 70 from speed value.Speed controlling portion 3 exports current instruction value according to this output result.Current control division 4 controls power amplifier 5 according to current instruction value.Power amplifier 5 is used for driving the distribution 22 of the electric current of the motor 21 of lathe 20 to export electric current to supply.Detected the electric current of power amplifier 5 output by current detecting part 6, feed back to current control division 4, and export to speed estimating portion 70.The presumption speed of the Current calculation motor that speed estimating portion 70 detects according to current detecting part 6, exports to first adder 2.
Lathe 20 has: without motor 21, motor rotation axis 23, speed regulating mechanism 24, main shaft rotary shaft 27 and main shafts 25 such as sensor sensing motor.Motor 21 is by making motor rotation axis 23 rotate from the power amplifier in control portion 100 via the electric current that distribution 22 supplies.Making the power that motor rotation axis 23 rotates, transmitted to main shaft rotary shaft 27 by conveyer belt uniform velocity guiding mechanism 24, main shaft 25 rotates.The most existing control device, because from the speed of the electric current presumption motor of supply, so need not operating speed detecting sensor in the motor, therefore inhibiting the cost for arranging sensor.In the case of the control of " position " being carried out main shaft by said structure, it is considered to the presumption speed deduced according to the electric current flowing through motor is integrated, the position of main shaft is carried out feedback control.But the presumption being because sometimes occurring the constant time lag of presumption postpones or sometimes comprises estimation error in speed estimating value, so cannot use in the purposes require the position control etc. of main shaft of high-precision lathe.
In the case of needing the purposes of position control uses the induction conductivity of Speedless sensor as described above as the main shaft of the lathe in lathe, sometimes with the sensor for detecting position of rotation installed on main shaft, its feedback pulse alternative in the velocity feedback of motor.Fig. 8 represents the structure of the existing control device with such mode.Existing control device 100, in addition to the existing control device shown in Fig. 7, also has second adder 11 and position control section 1.Position control section 1 is used for controlling the speed value of the speed of motor 21 according to position command value to speed controlling portion 3 output.
Lathe 20 also has the main shaft rotary body 28 arranged in main shaft rotary shaft 27.Main shaft rotary body 28 as one man rotates with the rotation of main shaft rotary shaft 27.Sensor 29 is set near main shaft rotary body 28.Sensor 29 detects the position of main shaft rotary body 28, exports to the second adder 11 controlling device 100.By such structure, lathe 20 carries out the position feedback control of main shaft.It addition, by the feedback data increasing this sensor 29 in the presumption speed of motor, compared with the situation of single speed estimating motor from the current value of motor, it is possible to make the loop stability of the speed of control motor.
It addition, as above-mentioned, near the next comfortable main shaft rotary body of utilization in the case of the positional information of the sensor of setting, it is possible to be set for the ring gain (speed ring gain) during speed (electromotor velocity) control of motor higher.And then, it is also possible to it is set for the ring gain (position loop gain) during position (main spindle's) control of main shaft higher.Here, so-called " ring gain " is the sensitivity in feedback control, improves ring gain and can suppress error, and action can be made during ring gain reduction to smooth.
Here, in the case of utilizing the testing result control motor of the sensor of setting near main shaft rotary body, sometimes slide in the speed regulating mechanism arranged for the power to main shaft transmission motor.In the case of on main shaft, the load of applying is little, slide hardly.Therefore, it is possible to control electromotor velocity to controlling the device feedback spindle speed testing result from sensor 29.But, in the case of the load applied is big, sometimes slide between motor and main shaft on main shaft.In the case of sliding, when utilizing the spindle speed testing result detected by the sensor arranged near main shaft rotary body in the feedback control of electromotor velocity, the control producing electromotor velocity becomes unstable such problem.
Summary of the invention
The control device of the present invention is the control device of the speed of the motor controlling drive shaft via the speed regulating mechanism with predetermined gear ratio, it is characterized in that, having: speed controlling portion, it is used for controlling the current instruction value of electromotor velocity according to the output of position command value；Current detecting part, its motor flows through the electric current of motor according to current instruction value detecting in the case of powered；First Speed presumption unit, it is according to the First Speed of the electric current presumption motor detected；Second speed presumption unit, it is estimated the second speed of motor according to spindle speed and gear ratio, wherein, calculates described spindle speed according to the main spindle's detected by the sensor of setting near main shaft；And load operational part, it calculates the value of induction-motor load, speed controlling portion is in the case of the value of the induction-motor load calculated is more than predetermined value, use First Speed calculating current command value, in the case of the not enough predetermined value of value of the induction-motor load calculated, use second speed calculating current command value.
Also there is in the control device of another embodiment of the present invention storage part, its storage First Speed ring gain and second speed ring gain higher than First Speed ring gain, being used as speed controlling portion is the ring gain that calculating current command value uses, speed controlling portion is in the case of the value of induction-motor load is more than predetermined value, use First Speed ring gain calculating current command value, in the case of the not enough predetermined value of value of induction-motor load, use the second speed ring gain calculating current command value higher than First Speed ring gain.
Position control section is also set up in the control device of another embodiment of the present invention, it is used for controlling the speed value of main spindle's according to position command value to speed controlling portion output, storage part storage primary importance ring gain and the second position ring gain higher than primary importance ring gain, being used as position control section is to calculate the ring gain that speed value uses, position control section is in the case of the value of induction-motor load is more than predetermined value, primary importance ring gain is used to calculate speed value, in the case of the not enough predetermined value of value of induction-motor load, the second position ring gain higher than primary importance ring gain is used to calculate speed value.
In the control device of the present invention, preferably load operational part determines the value of induction-motor load according to current instruction value.
Control device according to the present invention, the size of the load applied on main shaft according to Yin, switch the speed estimating value calculated according to the galvanometer of motor and the speed estimating value calculated according to the velometer of main shaft, carry out the control of electromotor velocity, so the size of the load no matter applied on main shaft, it is possible to carry out the control of electromotor velocity accurately.
And then, control device according to another embodiment of the present invention, because of according to the size of load that applies on main shaft, change the size of the speed ring gain for speed controlling, so the size of the load no matter applied on main shaft, it is possible to carry out the control of electromotor velocity accurately.
Additionally, control device according to another embodiment of the present invention, because of according to the size of load that applies on main shaft, change the size of the position loop gain for position control, so the size of the load no matter applied on main shaft, it is possible to carry out the control of main spindle's accurately.
Accompanying drawing explanation
Fig. 1 is the structure chart controlling device of embodiments of the invention 1.
Fig. 2 is the flow chart of the process representing the control method controlling device control electromotor velocity by embodiments of the invention 1.
Fig. 3 is the structure chart controlling device of embodiments of the invention 2.
Fig. 4 is the flow chart of the process representing the control method controlling device control electromotor velocity by embodiments of the invention 2.
Fig. 5 is the structure chart controlling device of embodiments of the invention 3.
Fig. 6 is the flow chart of the process representing the control method controlling device control electromotor velocity by embodiments of the invention 3.
Fig. 7 is the structure chart controlling device of existing electromotor velocity.
Fig. 8 is the structure chart controlling device of existing electromotor velocity.
Detailed description of the invention
The control device of the present invention is described with reference to the accompanying drawings.But the technical scope of the present invention is not limited to these embodiments, it is desirable to notice the invention relating to recording in detail in the claims and this point of equivalent thereof.
[embodiment 1]
First the control device of embodiments of the invention 1 is described.Fig. 1 represents the structure chart controlling device of embodiments of the invention 1.Control device 101 and there is position control section 1, first adder 2, speed controlling portion 3, current control division 4, power amplifier 5, current detecting part 6, First Speed presumption unit 7, second speed presumption unit 8, spindle speed operational part 9, second adder 11, load operational part 12, switch control portion 13 and the first switch SW1.The structure of lathe 20 is because the existing structure represented with Fig. 8 is identical, so omitting detailed description.
Position control section 1 exports the speed value for controlling main spindle's according to the position command value from the outside input controlling device 101 to speed controlling portion 3.Speed controlling portion 3 calculates the current instruction value for controlling electromotor velocity according to the speed value being calculated according to position command value by position control section 1, exporting, and it is exported to current control division 4.
Current control division 4 controls power amplifier 5 according to the current instruction value from speed controlling portion 3.Power amplifier 5 is used for driving the distribution 22 of the electric current of the motor 21 of lathe 20 to export electric current to supply.Current detecting part 6 passes through in the case of the electric current of power amplifier 5 supply is powered according to current instruction value at motor 21, and the electric current (actual current) of motor 21 is flow through in detection.The current feedback detected by current detecting part 6 is to current control division 4, and exports to First Speed presumption unit 7.
The First Speed of the electric current presumption motor 21 that First Speed presumption unit 7 detects according to current detecting part 6.Second speed presumption unit 8 according to spindle speed and between motor 21 and main shaft 25 arrange speed regulating mechanism 24 gear ratio presumption motor 21 second speed, wherein, the main spindle's that this spindle speed is detected according to the sensor 29 of setting near the main shaft rotary body 28 rotated with identical speed with main shaft 25 by spindle speed operational part 9 calculates.
Load operational part 12 calculates the value of induction-motor load.The value of induction-motor load preferably determines according to the current instruction value of speed controlling portion 3 output.
First switch SW1Switch First Speed presumption unit 7 and second speed presumption unit 8 according to the selection signal from switch control portion 13, switch the presumption speed to first adder 2 output.The value output switching first of the induction-motor load that switch control portion 13 calculates according to load operational part 12 switchs SW1Selection signal.In the case of the value of the induction-motor load i.e. calculated at load operational part 12 is more than predetermined value, speed controlling portion 3 is made to export selection signal with using First Speed calculating current command value, in order to switch SW first1Middle selection First Speed presumption unit 7.On the other hand, in the case of the value of induction-motor load is less than predetermined value, speed controlling portion 3 is made to export selection signal with using second speed calculating current command value, in order to switch SW first1Middle selection second speed presumption unit 8.
The flow chart explanation being then used by Fig. 2 representing uses the control method controlling device of embodiments of the invention 1.First, in step S101, give, for controlling device 101, the order that processing starts.Such as give position command value from the outside controlling device 101 for position control section 1.Then in step S102, it is judged that whether processing terminates.Whether processing terminates such as whether arrive, by main shaft 25, the position specified by position command value judges.In the case of process finishing, proceed to step S106, finishing control.
In the case of processing is unclosed, in step s 103, it is judged that whether the value of induction-motor load is more than predetermined value.The size of induction-motor load can be determined by load operational part 12 according to the current instruction value that speed controlling portion 3 exports for current control division 4.
In the case of the value of induction-motor load is more than predetermined value, in step S104, the speed estimating value i.e. First Speed that speed controlling portion 3 selects the galvanometer according to motor 21 to calculate carrys out calculating current command value.This is used for the first switch SW by switch control portion 13 output1The selection signal being switched to First Speed presumption unit 7 side performs.
On the other hand, in the case of the value of induction-motor load is less than predetermined value, in step S105, the speed estimating value i.e. second speed that speed controlling portion 3 selects the velometer according to main shaft 25 to calculate carrys out calculating current command value.This is used for the first switch SW by switch control portion 13 output1The selection signal being switched to second speed presumption unit 8 side performs.It is then back to step S102, repeats above step S102～S105.
As mentioned above, control device according to embodiments of the invention 1, the size of the load applied on main shaft according to Yin, the speed estimating value (second speed) that the speed estimating value (First Speed) that calculates according to the galvanometer of motor of switching and the velometer according to main shaft calculate, carry out the control of electromotor velocity, it is possible to the size of the load no matter applied on main shaft, carry out the control of electromotor velocity accurately.
[embodiment 2]
The control device of embodiments of the invention 2 is described below.Fig. 3 represents the structure chart controlling device of embodiments of the invention 2.The device 102 difference from the control device 101 of embodiment 1 that controls of embodiment 2 is to be additionally provided with First Speed ring gain storage part 31, second speed ring gain storage part 32 and second switch SW2This point.Control other structure and the structure of lathe 20 of device 102, because identical with the control device 101 of embodiment 1 and lathe 20, so omitting detailed description.
First Speed ring gain storage part 31, the speed ring gain used for calculating current command value as speed controlling portion 3, the value of storage First Speed ring gain.On the other hand, second speed ring gain storage part 32, the speed ring gain used for calculating current command value as speed controlling portion 3, store second speed ring gain.Here feature is, the size of second speed ring gain is higher than First Speed ring gain.
Second switch SW2According to the selection signal from switch control portion 13, switching First Speed ring gain storage part 31 and second speed ring gain storage part 32, switching gives the speed ring gain of speed controlling portion 3.The value of the induction-motor load that switch control portion 13 calculates according to load operational part 12, output switching second switch SW2Selection signal.
That is, in the case of the value of the induction-motor load calculated at load operational part 12 is more than predetermined value, switch control portion 13 output selects signal to make at second switch SW2Middle selection First Speed ring gain storage part 31.So, in the case of the value of induction-motor load is more than predetermined value, speed controlling portion 3 uses First Speed ring gain calculating current command value.
On the other hand, in the case of the value of induction-motor load is less than predetermined value, switch control portion 13 output selects signal to make at second switch SW2Middle selection second speed ring gain storage part 32.So, in the case of the value of induction-motor load is less than predetermined value, speed controlling portion 3 uses second speed ring gain calculating current command value.
The flow chart explanation being then used by Fig. 4 representing uses the control method controlling device of embodiments of the invention 2.The control method controlling device using embodiment 2 and the different point of control method controlling device using embodiment 1, be this point of size that gives the speed ring gain of speed controlling portion of the size change according to induction-motor load.Step S201 corresponding with step S101 in the control method controlling device of the embodiment 1 represented at Fig. 2～S106～S204, S206, S208, because identical with the control method controlling device of embodiment 1, so omitting detailed description.
In step S203, in the case of the value of induction-motor load is more than predetermined value, step S204 selects First Speed similarly to Example 1.Then, in step S205, switch control portion 13 output is for second switch SW2It is switched to the selection signal of First Speed ring gain storage part 31 side.So, in the case of the value of induction-motor load is more than predetermined value, speed controlling portion 3 uses First Speed gain calculating current command value.
On the other hand, in the case of the value of induction-motor load is less than predetermined value, step S206 selects second speed similarly to Example 1.Then, in step S207, switch control portion 13 output is for second switch SW2It is switched to the selection signal of second speed ring gain storage part 32 side.So, speed controlling portion 3 uses second speed gain calculating current command value.
It is then back to step S202, repeats step S202～S207.
As mentioned above, control device according to embodiments of the invention 2, because of according to the size of load that applies on main shaft, change the size of the speed ring gain for speed controlling, it is possible to the size of the load no matter applied on main shaft, carry out the control of electromotor velocity accurately.
[embodiment 3]
Then the control device of embodiments of the invention 3 is described.Fig. 5 represents the structure chart controlling device of embodiments of the invention 3.The device 103 difference from the control device 102 of embodiment 2 that controls of embodiment 3 is to be additionally provided with primary importance ring gain storage part 41, second position ring gain storage part 42 and the 3rd switch SW3This point.Control other structure and the structure of lathe 20 of device 103, because identical with the control device 102 of embodiment 2 and lathe 20, so omitting detailed description.
Primary importance ring gain storage part 41, the position loop gain used for calculating speed value as position control section 1, the value of storage primary importance ring gain.On the other hand, second position ring gain storage part 42, the position loop gain used for calculating speed value as position control section 1, the value of storage second position ring gain.Here feature is, the size of second position ring gain is higher than primary importance ring gain.
3rd switch SW3According to the selection signal from switch control portion 13, switching primary importance ring gain storage part 41 and second position ring gain storage part 42, switching gives the position loop gain of position control section 1.The value of the induction-motor load that switch control portion 13 calculates according to load operational part 12, output switching the 3rd switchs SW3Selection signal.
That is, in the case of the value of the induction-motor load calculated at load operational part 12 is more than predetermined value, switch control portion 13 output selects signal to make the 3rd and switchs SW3Middle selection primary importance ring gain storage part 41.So, in the case of the value of induction-motor load is more than predetermined value, position control section 1 uses primary importance ring gain to calculate speed value.
On the other hand, in the case of the value of induction-motor load is less than predetermined value, switch control portion 13 output selects signal to make the 3rd and switchs SW3Middle selection second position ring gain storage part 42.So, in the case of the value of induction-motor load is less than predetermined value, position control section 1 uses second position ring gain to calculate speed value.
The flow chart explanation being then used by Fig. 6 representing uses the control method controlling device of embodiments of the invention 3.The control method controlling device using embodiment 3 and the different point of control method controlling device using embodiment 2, be this point of size that gives the position loop gain of position control section of the size change according to induction-motor load.Step S301 corresponding with step S201 in the control method controlling device of the embodiment 2 represented at Fig. 4～S208～S305, S307, S308, S310, because identical with the control method controlling device of embodiment 2, so omitting detailed description.
In step S303, in the case of the value of induction-motor load is more than predetermined value, select First Speed the most similarly to Example 1.Then in step S305, select First Speed ring gain similarly to Example 2.
Then, in step S306, switch control portion 13 output is for the 3rd switch SW3It is switched to the selection signal of primary importance ring gain storage part 41 side.So, in the case of the value of induction-motor load is more than predetermined value, position control section 1 uses primary importance ring gain to calculate speed value.
On the other hand, in the case of the value of induction-motor load is less than predetermined value, in step S307, second speed is selected similarly to Example 1.Then, in step S308, second speed ring gain is selected similarly to Example 2.
Then, in step S309, switch control portion 13 output is for the 3rd switch SW3It is switched to the selection signal of second position ring gain storage part 42 side.So, in the case of the value of induction-motor load is less than predetermined value, position control section 1 uses second position ring gain calculating current command value.
Then, return step S302, repeat step S302～S309.
As mentioned above, control device according to embodiments of the invention 3, because of according to the size of load that applies on main shaft, change the size of the position loop gain for position control, it is possible to the size of the load no matter applied on main shaft, carry out the control of main spindle's accurately.
Claims (3)
1. controlling a device, it is by having the speed that the speed regulating mechanism of predetermined gear ratio controls the motor of drive shaft, and this control device is characterised by,
Have:
Position control section, it is used for controlling the speed value of main spindle's according to the output of position command value；
Speed controlling portion, it is used for controlling the current instruction value of electromotor velocity according to the output of this speed value；
Current detecting part, it is in the case of motor is powered according to above-mentioned current instruction value, and the electric current of motor is flow through in detection；
First Speed presumption unit, it estimates the First Speed of motor according to above-mentioned electric current；
Second speed presumption unit, it is estimated the second speed of motor according to spindle speed and above-mentioned gear ratio, wherein, calculates described spindle speed according to the main spindle's detected by the sensor of setting near main shaft；And
Load operational part, the value of its calculating induction-motor load,
Above-mentioned speed controlling portion is in the case of the value of above-mentioned induction-motor load is that more than the value of slip occurs between motor and main shaft, above-mentioned First Speed is used to calculate above-mentioned current instruction value, in the case of there is, between the not enough above-mentioned motor of value and the main shaft of above-mentioned induction-motor load, the value slided, above-mentioned second speed is used to calculate above-mentioned current instruction value
Above-mentioned control device also has storage part, its storage First Speed ring gain and second speed ring gain higher than above-mentioned First Speed ring gain, and being used as above-mentioned speed controlling portion is to calculate the ring gain that above-mentioned current instruction value uses,
Above-mentioned speed controlling portion is in the case of the value of above-mentioned induction-motor load is that more than the value of slip occurs between above-mentioned motor and main shaft, above-mentioned First Speed ring gain is used to calculate above-mentioned current instruction value, in the case of there is, between the not enough above-mentioned motor of value and the main shaft of above-mentioned induction-motor load, the value slided, above-mentioned second speed ring gain is used to calculate above-mentioned current instruction value.
Control device the most according to claim 1, it is characterised in that
The storage primary importance ring gain of above-mentioned storage part and the second position ring gain higher than above-mentioned primary importance ring gain, being used as above-mentioned position control section is to calculate the ring gain that above-mentioned speed value uses,
Above-mentioned position control section is in the case of the value of above-mentioned induction-motor load is that more than the value of slip occurs between above-mentioned motor and main shaft, above-mentioned primary importance ring gain is used to calculate above-mentioned speed value, in the case of there is, between the not enough above-mentioned motor of value and the main shaft of above-mentioned induction-motor load, the value slided, said second position ring gain is used to calculate above-mentioned speed value.
Control device the most according to claim 1 and 2, it is characterised in that
Above-mentioned load operational part determines the value of above-mentioned induction-motor load according to above-mentioned current instruction value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011079162A JP5129362B2 (en) | 2011-03-31 | 2011-03-31 | Spindle drive motor controller |
| JP2011-079162 | 2011-03-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102739132A CN102739132A (en) | 2012-10-17 |
| CN102739132B true CN102739132B (en) | 2016-08-03 |
Family
ID=46994060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210091298.2A Active CN102739132B (en) | 2011-03-31 | 2012-03-30 | The control device of main shaft drives motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5129362B2 (en) |
| CN (1) | CN102739132B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6568039B2 (en) * | 2016-10-13 | 2019-08-28 | ファナック株式会社 | Motor control device in machine tool having multiple axes |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101034865A (en) * | 2006-03-07 | 2007-09-12 | 株式会社日立产机系统 | Motor controller and motor control method |
| CN101330270A (en) * | 2007-06-22 | 2008-12-24 | 三洋电机株式会社 | Motor control device and compressor |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6323586A (en) * | 1986-07-14 | 1988-01-30 | Mitsubishi Electric Corp | Sepeed controller for induction motor |
| JP3053121B2 (en) * | 1991-04-08 | 2000-06-19 | 株式会社安川電機 | Control method of induction motor |
| JPH081566A (en) * | 1994-06-22 | 1996-01-09 | Toshiba Corp | Robot control device |
| JP2000253700A (en) * | 1999-02-26 | 2000-09-14 | Toyo Electric Mfg Co Ltd | Vector control inverter apparatus |
| JP3958920B2 (en) * | 2000-07-31 | 2007-08-15 | オークマ株式会社 | Spindle controller |
| JP4133572B2 (en) * | 2003-05-16 | 2008-08-13 | 株式会社リコー | Load identification device, load identification method, and control system design support method |
| JP2005304175A (en) * | 2004-04-12 | 2005-10-27 | Yaskawa Electric Corp | Speed controller of motor |
| JP2007108869A (en) * | 2005-10-11 | 2007-04-26 | Nakamura Tome Precision Ind Co Ltd | Tension control method for main shaft driving belt and composite lathe |
| JP5361507B2 (en) * | 2009-04-14 | 2013-12-04 | 三菱電機株式会社 | Motor control device with protection function |
| JP4870824B2 (en) * | 2010-03-26 | 2012-02-08 | ファナック株式会社 | Spindle control device with encoder |
-
2011
- 2011-03-31 JP JP2011079162A patent/JP5129362B2/en active Active
-
2012
- 2012-03-30 CN CN201210091298.2A patent/CN102739132B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101034865A (en) * | 2006-03-07 | 2007-09-12 | 株式会社日立产机系统 | Motor controller and motor control method |
| CN101330270A (en) * | 2007-06-22 | 2008-12-24 | 三洋电机株式会社 | Motor control device and compressor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5129362B2 (en) | 2013-01-30 |
| CN102739132A (en) | 2012-10-17 |
| JP2012217231A (en) | 2012-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103941643A (en) | Control Device For Machine Tool With Time Estimation Unit | |
| CN103973202B (en) | Controller for motor and motor control method | |
| US9581989B2 (en) | Control device of machine tool which estimates overheating of motor | |
| JP5727572B2 (en) | Machine tool control apparatus and control method for changing operation according to motor temperature | |
| TW201131325A (en) | Module for on-line vibration detection and adjustment and tool machine using the same | |
| JP3699458B2 (en) | Cutting force detection method, machining control method using cutting force, and control device | |
| JP5101156B2 (en) | Method and apparatus for adjusting operating parameters of robot, program and recording medium for the method | |
| CN108249238B (en) | Method, device and system for compensating weighing-free starting torque of elevator | |
| CN101738979A (en) | Controller for calculating electric power consumption of industrial machine | |
| JP2000271836A (en) | Control method and device for machine tool under numerical control | |
| CN102205507A (en) | Controller for spindle with encoder | |
| CN102684600A (en) | Motor control apparatus and method for controlling motor | |
| CN110376970A (en) | The computer-readable medium that parameter determines auxiliary device and has program recorded thereon | |
| CN110601604A (en) | Multi-motor speed synchronous control system and control method thereof | |
| CN102739132B (en) | The control device of main shaft drives motor | |
| WO2012164740A1 (en) | Multi-axis motor driving system and multi-axis motor driving apparatus | |
| JP2009104604A (en) | Machine tool, production machine and/or robot | |
| JP6423904B2 (en) | Numerical control device for machine tools | |
| CN110001764A (en) | High bandwidth general electric steering system controller | |
| JP2013063017A (en) | Controller of main shaft driving motor | |
| CN109581970A (en) | Parameter determines auxiliary device | |
| JP5199682B2 (en) | Motor control device | |
| JP4888204B2 (en) | Vacuum cleaner | |
| CN115315336A (en) | Control device | |
| CN103663082B (en) | The method of inspection of the residue on apparatus of passenger conveyor control setup and apparatus of passenger conveyor |
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 |