CN112713839A - Motor control device, motor unit, and motor control method - Google Patents
Motor control device, motor unit, and motor control method Download PDFInfo
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- CN112713839A CN112713839A CN202011144078.2A CN202011144078A CN112713839A CN 112713839 A CN112713839 A CN 112713839A CN 202011144078 A CN202011144078 A CN 202011144078A CN 112713839 A CN112713839 A CN 112713839A
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- 238000000034 method Methods 0.000 title claims abstract description 90
- 230000001133 acceleration Effects 0.000 claims abstract description 102
- 230000007423 decrease Effects 0.000 claims abstract description 18
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
Abstract
The invention relates to a motor control device, a motor unit, and a motor control method. When the receiving unit receives a change command for commanding a change in the rotational speed of the motor from the first rotational speed to the second rotational speed, the drive control unit of the motor control device starts to change the rotational speed of the motor at a first start time point after a first time point at which the change command is received. The drive control unit makes the absolute value of the acceleration of the rotation speed from the first time point to the second time point after the second time from the first start time point to the first start time point larger than the absolute value of the acceleration of the rotation speed from the second time point to the first arrival time point at which the rotation speed of the motor reaches the second rotation speed. The drive control unit monotonically decreases the absolute value of the acceleration of the rotation speed from the second time point to the first arrival time point.
Description
Technical Field
The invention relates to a motor control device, a motor unit, and a motor control method.
Background
In a printer, motors are mounted in various places such as a paper conveying mechanism and a moving mechanism of a print head for printing (see japanese laid-open patent publication No. 2001-103778). The motor needs to rotate at various fixed rotation speeds according to the printing speed and the like.
However, when the rotation speed of the motor is changed, it is difficult to ideally change the rotation speed of the motor. For example, when the motor is accelerated, overshoot is likely to occur in the vicinity of the target rotation speed. In addition, when the motor is decelerated, undershoot is likely to occur in the vicinity of the target rotation speed. Therefore, a technique for suppressing the occurrence of overshoot or undershoot and changing the rotation speed of the motor more ideally is desired.
Disclosure of Invention
The purpose of the present invention is to suppress overshoot or undershoot when accelerating or decelerating the rotation of a motor.
A motor control device according to an exemplary embodiment of the present invention includes a receiving unit that receives a change command from an external device, a storage unit that stores rotational speed information of a motor, and a drive control unit that controls driving of the motor based on the change command and the rotational speed information. The rotational speed information includes a first rotational speed and a second rotational speed. The change command indicates a change in the rotational speed of the electric motor from the first rotational speed to the second rotational speed. Wherein the drive control unit starts the change of the rotation speed of the motor at a first start time point after a first time from a first time point at which the change command is received, when the receiving unit receives the change command. The drive control unit makes an absolute value of acceleration of the rotational speed from the first start time point to a second time point after a second time from the first start time point to the first start time point larger than an absolute value of acceleration of the rotational speed from the second time point to a first arrival time point at which the rotational speed of the motor reaches the second rotational speed. The drive control unit monotonically decreases the absolute value of the acceleration of the rotation speed from the second time point to the first arrival time point.
A motor unit according to an exemplary embodiment of the present invention includes the motor control device and a motor driven and controlled by the motor control device.
A motor control method according to an exemplary embodiment of the present invention includes a step of receiving a change command from an external device, and a step of controlling driving of the motor based on the change command and the rotational speed information of the motor stored in the storage unit. The rotational speed information includes a first rotational speed and a second rotational speed. The change command indicates a change in the rotational speed of the electric motor from the first rotational speed to the second rotational speed. Characterized in that the step of controlling the driving comprises: a step of, when the change command is received in the receiving step, starting to change the rotation speed of the motor at a start time point that is a first time after a first time point at which the change command is received; a step of making an absolute value of acceleration of the rotation speed from the start time point to a second time point after a second time from the start time point to the start time point larger than an absolute value of acceleration of the rotation speed from the second time point to an arrival time point at which the rotation speed of the motor reaches the second rotation speed, and a step of monotonously decreasing the absolute value of acceleration of the rotation speed from the second time point to the arrival time point.
According to the exemplary motor control device, motor unit, and motor control method of the present invention, overshoot or undershoot when accelerating or decelerating the rotation of the motor can be suppressed.
The above and other features, elements, steps, features and advantages of the present invention will be more clearly understood from the following detailed description of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
Fig. 1 is a block diagram showing a configuration example of a motor control system.
Fig. 2 is a graph showing an example of the rotational speed control of the motor.
Fig. 3A is a graph showing an example of the start control of the motor.
Fig. 3B is a graph showing an example of the rotation stop control of the motor.
Fig. 3C is a graph showing an example of the acceleration control of the motor.
Fig. 3D is a graph showing an example of the deceleration control of the motor.
Fig. 4 is a flowchart for explaining an example of the motor rotation speed control process.
Fig. 5A is a flowchart for explaining an example of the motor start control process.
Fig. 5B is a flowchart for explaining an example of the rotation stop control process of the motor.
Fig. 5C is a flowchart for explaining an example of the acceleration control process of the motor.
Fig. 5D is a flowchart for explaining an example of the deceleration control process of the motor.
Fig. 6 is a graph showing an example in the case where the process of changing the rotation speed of the motor is performed 2 times.
Detailed Description
Hereinafter, exemplary embodiments will be described with reference to the drawings.
Fig. 1 is a block diagram showing a configuration example of a motor control system. The motor control system of the present embodiment is used for driving control of a brushless DC motor (BLDC motor) for carrying out paper conveyance in a printer, for example. However, the present invention is not limited to this example, and the motor control system may be used for other applications, for example, as drive control of a brushless DC motor used in place of a stepping motor.
As shown in fig. 1, the motor control system includes a motor unit 100, a dc power supply 200, and an external device 300. The dc power supply 200 supplies a dc power supply voltage to the motor unit 100. The external device 300 outputs a speed command Cp, a setting signal Cv, a change command Sp, and the like, which will be described later, to the motor unit 100.
The motor unit 100 includes a motor 1, an inverter 3, and a motor control device 4.
As shown in fig. 1, the motor 1 includes a rotor 11 and a stator 12. The rotor 11 is rotatable about a central axis (not shown). The stator 12 receives three-phase ac power from the inverter 3 and rotationally drives the rotor 11.
In the present embodiment, the motor 1 is driven and controlled without a position sensor. However, the present embodiment is not limited to the example, and the motor 1 may have an encoder. The encoder is a sensor for detecting the rotational angle position of the rotor 11, and outputs the detection result to the motor control device 4. In addition, instead of the encoder, a magnetic sensor such as a hall element, a potentiometer, or a resolver may be used as the sensor.
A power supply voltage is supplied from dc power supply 200 to inverter 3. The inverter 3 generates three-phase ac power based on a PWM signal (no sign) output from the motor control device 4, and supplies the three-phase ac power to the motor 1.
The motor unit 100 of the present embodiment includes the motor control device 4 described above and the motor 1 driven and controlled by the motor control device 4. As a result, as described later, when the rotation speed V of the motor 1 is changed, overshoot or undershoot of the motor 1 near the time point at which the rotation speed V reaches the target rotation speed can be suppressed. The overshoot of the motor 1 is a phenomenon in which the rotation speed V of the motor 1 during acceleration reaches a target rotation speed and converges to the target rotation speed after exceeding the target rotation speed. The undershoot of the motor 1 is a phenomenon in which the rotation speed V of the motor 1 during deceleration converges to a target rotation speed after the rotation speed V falls below the target rotation speed when the rotation speed V reaches the target rotation speed. Further, in the motor unit 100 of the present embodiment, the acceleration or deceleration of the motor 1 can be performed more accurately and smoothly than in the case where the rotation speed of the motor 1 is changed immediately from the time point when the change command Sp described later is received.
The motor control device 4 controls driving of the motor 1. As described above, the motor unit 100 includes the motor control device 4. As shown in fig. 1, the motor control device 4 includes a receiving unit 41, a storage unit 42, and a drive control unit 43.
The receiving section 41 is communicably connected with the external apparatus 300. The receiving unit 41 receives the change instruction Sp from the external device 300. In addition, the receiving unit 41 receives the speed command Cp from the external device 300. More specifically, the receiving unit 41 receives the setting signal Cv from the external device 300. In the present embodiment, the change command Sp and the speed command Cp are pulse signals. More specifically, the speed command Cp, the change command Sp, and the setting signal Cv are pulse signals, respectively. The details of the speed command Cp, the change command Sp, and the setting signal Cv will be described later.
Next, the storage unit 42 is a non-transitory storage medium that retains storage even after the power supply is stopped. The storage unit 42 stores information and programs used by the respective components of the motor control device 4, and particularly stores information and programs used by the drive control unit 43.
Further, the storage unit 42 stores information on the rotational speed of the motor 1. The rotational speed information is generated by the drive control unit 43 based on the setting signal Cv, and stores the constant rotational speed of the motor 1 when the motor 1 is rotated at the constant speed. In the present embodiment, the rotation speed information includes 4 rotation speeds V1, V2, V3, and V4 as constant rotation speeds. In the present embodiment, the rotation speed V1 is 1500[ rpm ]. The rotational speed V2 was 2000[ rpm ]. The rotation speed V3 was 1200[ rpm ]. The rotation speed V4 was 3000[ rpm ].
The rotation speed information includes a plurality of execution orders n of constant rotation speeds. In the present embodiment, the constant rotation speed in which the execution order n is the 1 st is the rotation speed V1. The constant rotational speed at which the sequence n is performed is the 2 nd rotational speed V2. The constant rotational speed at which the sequence n is performed is the 3 rd rotational speed V3. The constant rotation speed at which the sequence n is performed is the 4 th rotation speed V4. The execution order n is determined in the order in which the receiver 41 receives the setting pulse signals Cv1, Cv2, Cv3, and Cv4, which will be described later.
The drive control unit 43 controls the drive of the motor 1 based on the change command Sp and the rotation speed information. In the present embodiment, drive control unit 43 also controls the driving of motor 1 based on speed command Cp. The drive control unit 43 controls the inverter 3 that supplies three-phase ac power to the motor 1. The drive control unit 43 controls the driving of the motor 1 by controlling the inverter 3.
Next, the speed command Cp, the change command Sp, and the setting signal Cv input from the external device 300 to the motor control device 4 will be described.
The speed command Cp indicates the rotation speed V of the motor 1. In the present embodiment, the speed command Cp is a PWM pulse signal having a pulse period of 2667[ pps ] or more and 30000[ pps ] or less. The pulse amplitude of the speed command Cp is 0.03333[ msec ] or more and 0.37495[ msec ] or less. The speed command Cp is input to the motor control device 4 from the start to the end of the control of the rotation speed V of the motor 1 as needed.
The change command Sp is a signal indicating a change in the rotation speed V of the electric motor 1 from the first rotation speed Va to the second rotation speed Vb. As described later, the change command Sp is input to the motor control device 4 a predetermined time before the start time point at which the change of the rotation speed V of the motor 1 is started. The change command Sp includes a start command Ss, an acceleration command Sa, a deceleration command Sd, a stop command Se, and a repeat command Sr. The start command Ss is a signal for instructing the motor 1 in a rotation stop state in which the first rotation speed Va is 0 to start rotating and accelerating the motor 1 to the target second rotation speed Vb. The acceleration command Sa is a signal for instructing acceleration of the rotation speed V of the motor 1 from the first rotation speed Va (> 0) to the target second rotation speed Vb. The deceleration command Sd is a signal for instructing to decelerate the rotation speed V of the motor 1 from the first rotation speed Va to a target second rotation speed Vb (> 0). The stop command Se is a signal for instructing the rotating electric motor 1 to be decelerated at the first rotation speed Va to be in a rotation stop state in which the second rotation speed Vb becomes 0. The repetition command Sr is a signal for instructing the repetition of the rotation speed control of the motor 1 in the fixed pattern. In the present embodiment, the repeat command Sr instructs to repeat the rotation speed control of the motor 1 performed at time t1 to t24 in fig. 2, which will be described later.
The pulse amplitude of the change command Sp is different from the pulse amplitude of the speed command Cp. For example, the start instruction Ss is a pulse having a pulse amplitude of 0.02857[ msec ]. The acceleration command Sa is a pulse having a pulse amplitude of 0.02778[ msec ]. The deceleration instruction Sd is a pulse having a pulse amplitude of 0.02703[ msec ]. The stop instruction Se is a pulse having a pulse amplitude of 0.02632[ msec ]. The repeat instruction Sr is a pulse having a pulse amplitude of 0.02564[ msec ]. Therefore, the change command Sp can be replaced with a pulse signal that is a part of the speed command Cp and input to the motor control device 4. In addition, the change command Sp can be distinguished from the pulse signal of the speed command Cp by the pulse amplitude. Therefore, the change command Sp can be smoothly received through the same receiving port 41a as the speed command Cp.
The pulse width of change command Sp is narrower than the pulse width of speed command Cp. In this way, the pulses of a part of tempo command Cp can be replaced with change command Sp without disturbing the pulse period of tempo command Cp. Further, by using a pulse with a narrower pulse width for the change command Sp, even when the interval between the time point at which the change command Sp is received by the receiving unit 41 and the time point at which the change of the rotation speed of the motor 1 is started becomes shorter, the change command Sp can be input to the motor control device 4 while suppressing the influence on other controls. However, the pulse width of change command Sp may be larger than the pulse width of speed command Cp, without being limited to this example.
In the present embodiment, the change command Sp is a single pulse. That is, the change command Sp, the start command Ss, the acceleration command Sa, the deceleration command Sd, the stop command Se, and the repeat command Sr are each one pulse. However, the change command Sp is not limited to this example, and may be a plurality of pulses.
The setting signal Cv is a signal for setting a constant rotation speed of the motor 1 when the motor 1 is rotated at a constant speed. The constant rotation speeds include a first rotation speed Va and a second rotation speed Vb. As described later, the setting signal Cv is input to the motor control device 4 before the rotation speed control of the motor 1 is started.
The setting signal Cv includes a plurality of setting pulse signals indicating respective constant rotation speeds. In the present embodiment, the setting signal Cv includes a setting pulse signal Cv1, a setting pulse signal Cv2, a setting pulse signal Cv3, and a setting pulse signal Cv 4. The setting pulse signal Cv1 is a signal for setting the rotation speed V1 to one of the constant rotation speeds. The setting pulse signal Cv2 is a signal for setting the rotation speed V2 to one of the constant rotation speeds. The setting pulse signal Cv3 is a signal for setting the rotation speed V3 to one of the constant rotation speeds. The setting pulse signal Cv4 is a signal for setting the rotation speed V4 to one of the constant rotation speeds.
The pulse width of each of the setting pulse signals Cv1, Cv2, Cv3, and Cv4 is the same as the pulse width of the speed command Cp indicating the same rotational speed V as the setting pulse signals Cv1, Cv2, Cv3, and Cv 4. For example, the pulse width of the set pulse signal Cv1 is the same as the pulse width of the speed command Cp for instructing the rotation speed V of the motor 1 to be 1500[ rpm ]. The pulse amplitude of the pulse signal Cv2 is set to be the same as the pulse amplitude of the speed command Cp for instructing the rotation speed V of the motor 1 to be 2000 rpm. The pulse amplitude of the pulse signal Cv3 is set to be the same as the pulse amplitude of the speed command Cp for setting the rotation speed V of the motor 1 to 1200 rpm. The pulse amplitude of the pulse signal Cv4 is set to be the same as the pulse amplitude of the speed command Cp for setting the rotation speed V of the motor 1 to 3000[ rpm ]. In this way, pulse signals having the same pulse width as the speed command Cp indicating the same rotational speed can be used for the setting pulse signals Cv1, Cv2, Cv3, and Cv 4. Therefore, the rotation speed control of the motor 1 can be made simpler.
In the present embodiment, each of the setting pulse signals Cv1, Cv2, Cv3, and Cv4 is a single pulse. However, the setting pulse signals Cv1, Cv2, Cv3, and Cv4 may be a plurality of pulses, not limited to this example.
Next, an example of the rotational speed control of the motor 1 will be described with reference to fig. 2 to 4.
Fig. 2 is a graph showing an example of the rotational speed control of the motor 1. Fig. 3A is a graph showing an example of the start control of the motor 1. Fig. 3B is a graph showing an example of the rotation stop control of the motor 1. Fig. 3C is a graph showing an example of the acceleration control of the motor 1. Fig. 3D is a graph showing an example of the deceleration control of the motor 1. Fig. 4 is a flowchart for explaining an example of the rotation speed control process of the motor 1.
In fig. 2 to 3D, a graph Lr of a solid line shows a change pattern of the actual rotation speed V of the motor 1. The broken line graph Li represents a change pattern of the rotation speed V of the ideal motor 1. In the present embodiment, when the rotation speed V of the motor 1 is changed, the broken-line graph Li linearly changes the rotation speed V.
In the present embodiment, the motor control device 4 performs the fixed-mode rotation speed control shown in fig. 2 by the rotation speed control process of the motor 1 shown in fig. 4. The external device 300 inputs a speed command Cp to the motor control device 4 at a timing corresponding to a dashed-line graph Li indicating a change pattern of the rotation speed V of the ideal motor 1.
The rotation speed control process of fig. 4 is thereby started by inputting a predetermined signal to the motor control device 4 or performing a predetermined operation on the motor control device 4. Further, at the start time point of the flowchart of fig. 4, the motor 1 is controlled so as not to be rotatable.
First, when the receiving unit 41 receives the setting signal Cv from the external device 300 (yes in step S101), the drive control unit 43 generates the rotational speed information from the setting signal Cv received by the receiving unit 41 before starting the drive control of the motor 1 (step S102). For example, in fig. 2, the setting signal Cv is received before the time point t 0. Thus, before the drive control of the motor 1 is started, the rotational speed information including the constant rotational speeds such as the rotational speeds V1, V2, V3, and V4 can be generated and stored in the storage unit 42. Therefore, the rotation speed control of the motor 1 can be performed more accurately and easily. When the receiving unit 41 does not receive the setting signal Cv from the external device 300 (no in step S101), the rotation speed control process in fig. 4 returns to step S101.
Next, when the reception unit 41 starts receiving the speed command Cp (yes in step S103), the drive control unit 43 sets the execution order n of the constant rotation speed to the 1 st (step S104). In fig. 2, the reception of the speed command Cp is started at a time point t 0. Thereby, the drive control of the motor 1 is started, and the motor 1 is rotatable. When the reception unit 41 does not start receiving the speed command Cp (no in step S103), the rotation speed control process in fig. 4 returns to step S103.
Next, when the receiving unit 41 receives the start command Ss from the external device 300 (yes in step S105), the drive control unit 43 performs the start control process a of the motor 1 shown in fig. 3A. For example, in fig. 2, the start command Ss is received at a time point t1, and the start control processing a is performed at time points t1 to t 4. The start command Ss is received at time t17, and the start control processing a is executed at time t17 to t 20. By the start control processing a, the motor 1 in the rotation stop state starts to rotate and accelerates to the rotation speed Vn in the execution sequence n (n is 1, 2, 3, 4). When the rotation speed V of the motor 1 reaches the rotation speed Vn of the implementation sequence n, the drive control unit 43 maintains the rotation speed Vn of the implementation sequence n in accordance with the speed command Cp. When the reception unit 41 has not received the start command Ss from the external device 300 (no in step S105), the rotation speed control process in fig. 4 returns to step S105.
Next, the drive control unit 43 determines whether or not the execution sequence n is the last nth (step S106). In the present embodiment, ne is 4. When the execution sequence n is the last ne-th (yes in step S106), the rotation speed control process in fig. 4 proceeds to step S111, which will be described later.
When the execution sequence n is not the last ne-th (no in step S106), if the receiving unit 41 receives the change command Sp from the external device 300 (yes in step S107), the drive control unit 43 determines whether or not the change command Sp is the stop command Se (step S108).
If the change command Sp is the stop command Se (yes in step S108), the drive control unit 43 performs the rotation stop control process B of the motor 1 shown in fig. 3B. For example, in fig. 2, the change command Sp received at time t13 is determined as the stop command Se, and the rotation stop control processing B is performed at time t13 to t 16. The rotation stop control process B decelerates the motor 1 to bring the motor into a rotation stop state. The rotation speed control process of fig. 4 returns to step S105.
On the other hand, if the change command Sp is not the stop command Se (no in step S108), the drive control unit 43 adds 1 to the execution order n of the rotation speed V (step S109). Then, the drive control unit 43 determines whether the change command Sp is the acceleration command Sa or the deceleration command Sd (step S110).
When the change command Sp is the acceleration command Sa (no in step S110), the drive control unit 43 performs the acceleration control process C of the motor 1. By the acceleration control process C, the rotation speed V of the motor 1 is accelerated to the rotation speed Vn in the implementation sequence n. For example, in fig. 2, the change command Sp received at time t5 is determined as the acceleration command Sa, and the acceleration control process C is performed at time t5 to t 8. In addition, the rotation speed V of the motor 1 is accelerated to the rotation speed V2 by the acceleration control process C. The rotation speed control process of fig. 4 returns to step S106.
When the change command Sp is the deceleration command Sd (yes in step S110), the drive control unit 43 performs the deceleration control process D of the motor 1. The rotation speed V of the motor 1 is decelerated to a rotation speed Vn in the implementation sequence n by the deceleration control process D. For example, in fig. 2, the change command Sp received at time t9 is determined as the deceleration command Sd, and the deceleration control process D is performed at time t9 to t 12. Further, the rotation speed V of the motor 1 is decelerated to the rotation speed V3 by the deceleration control process D. The rotation speed control process of fig. 4 returns to step S106.
Next, if yes in step S106, the execution order n is the last ne-th order. In this case, when the reception unit 41 receives the stop command Se from the external device 300 (yes in step S111), the drive control unit 43 performs the rotation stop control process B of the motor 1 to bring the motor 1 into the rotation stop state. For example, in fig. 2, when the motor 1 rotates at the fourth rotation speed V4 at which the implementation sequence n is the last, the stop command Se is received at the time point t21, and the rotation stop control process B is implemented at the time points t21 to t 24. When the reception unit 41 does not receive the stop command Se from the external device 300 (no in step S111), the rotation speed control process in fig. 4 returns to step S111.
If yes in step S111, drive control unit 43 determines whether or not reception of speed command Cp by receiving unit 41 is stopped (S112). For example, if the period during which speed command Cp is not received by receiving unit 41 exceeds a predetermined time, drive control unit 43 determines that the reception of speed command Cp has been stopped. The predetermined time is, for example, a period equal to or longer than the pulse period of speed command Cp.
If it is not determined that the reception of speed command Cp is stopped (no at step S112), drive control unit 43 determines whether or not reception unit 41 has received repeat command Sr from external device 300 (step S113). If the repeat command Sr is not received (no in step S113), the rotation speed control process in fig. 4 returns to step S112. On the other hand, for example, when the sub-repeat command Sr is received as at time t25 in fig. 2 (yes in step S113), the rotational speed control process in fig. 4 returns to step S104.
On the other hand, if it is determined that the reception of speed command Cp is stopped (yes at step S112), the rotation speed control process of fig. 4 is ended. Alternatively, the rotation speed control process of fig. 4 may return to step S101.
Next, the start control process a, the rotation stop control process B, the acceleration control process C, and the deceleration control process D will be described in more detail with reference to fig. 3A to 3D and fig. 5A to 5D. Fig. 5A is a flowchart for explaining an example of the start control process of the motor 1. Fig. 5B is a flowchart for explaining an example of the rotation stop control process of the motor 1. Fig. 5C is a flowchart for explaining an example of the acceleration control process of the motor 1. Fig. 5D is a flowchart for explaining an example of the deceleration control process of the motor 1.
Hereinafter, a case where the rotation speed V of the motor 1 is changed from the first rotation speed Va to the second rotation speed Vb will be described as an example. In this case, the rotation speed information includes the first rotation speed Va and the second rotation speed Vb as the constant rotation speeds.
In the following description of the respective processes a to D, the same components are denoted by the same reference numerals, and the description thereof may be omitted.
First, an example of the start control process a of the motor 1 will be described with reference to fig. 3A and 5A. For example, in step S105 in fig. 4, the startup control process a is started when the reception unit 41 receives the startup instruction Ss from the external apparatus 300. In the start-up control process a, the first rotation speed Va is 0[ rpm ]. The drive control unit 43 starts the rotation of the motor 1 in the rotation stopped state, and accelerates the motor 1 to the second rotation speed Vb.
First, the drive control unit 43 starts the rotation of the motor 1 at a first start time point ts1 after a first time Ta1 from a first time point Ta1 at which the start command Ss is received, and accelerates the motor 1 (step S201).
At this time, the drive control unit 43 makes the absolute value of the acceleration of the rotation speed V of the motor 1 at the first start time point ts1 larger than the average value of the absolute values of the acceleration of the rotation speed V of the motor 1 from the first start time point ts1 to the first arrival time point tg1, for example (step S202). In the present embodiment, the average value is an average value of the absolute values of the acceleration Ac1 of the rotation speed of the motor 1 from the first start time point ts1 to the point where the dashed graph Li of fig. 3A reaches the second rotation speed Vb. At the first start time ts1, the absolute value of the acceleration Aa1 of the rotation speed V of the motor 1 in the solid line graph Lr of fig. 3A is made larger than the average value of the absolute values of the acceleration Ac1 in the broken line graph Li.
Further, the drive control unit 43 monotonically decreases the difference Δ V1 between the rotation speed V and the second rotation speed Vb from the first start time ts1 to the second time tb1 (step S203). In addition, the second time point Tb1 is a time point after the second time Tb1 of the first start time point ts 1.
Further, the drive control unit 43 makes the absolute value of the acceleration Aa1 of the rotation speed V from the first start time point ts1 to the second time point tb1 larger than the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 to the first arrival time point tg1 (step S204). The first arrival time tg1 is a time point at which the rotation speed V of the motor 1 reaches the second rotation speed Vb shown in the solid line graph Lr of fig. 3A.
Then, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab1 from the second time tb1 to the first arrival time tg1 (step S205). That is, the drive control unit 43 monotonically decreases the acceleration Ab1 after the second time tb1 until the rotation speed V of the motor 1 shown by the solid line graph Lr in fig. 3A reaches the second rotation speed Vb.
When the rotation speed V of the motor 1 reaches the second rotation speed Vb (yes in step S206), the start control process a ends, and the process proceeds to, for example, step S106 in fig. 4. When the rotation speed V of the motor 1 does not reach the second rotation speed Vb (no in step S206), the rotation speed control process of fig. 5A returns to step S203, for example.
Through the above control, the motor control device 4 can suppress overshoot when accelerating the motor in the start control of the motor 1.
Next, an example of the rotation stop control process B of the motor 1 will be described with reference to fig. 3B and 5B. For example, when the change command Sp is determined to be the stop command Se in step S108 in fig. 4, or when the reception unit 41 receives the stop command Se from the external device 300 in step S111 in fig. 4, the rotation stop control process B is started. In the rotation stop control process B, the second rotation speed Vb is 0[ rpm ]. As shown in fig. 3B, the drive control unit 43 starts deceleration of the motor 1 rotating at the first rotation speed Va, and stops rotation of the motor 1.
First, the drive control unit 43 starts the deceleration of the rotation speed V of the motor 1 at a first start time ts1 after a first time Ta1 from the first time Ta1 at which the stop command Se is received (step S301).
At this time, the drive control unit 43 makes the absolute value of the acceleration of the rotation speed V of the motor 1 at the first start time point ts1 larger than the average value of the absolute values of the acceleration of the rotation speed V of the motor 1 from the first start time point ts1 to the first arrival time point tg1, for example (step S302). In the present embodiment, as the average value, an average value of absolute values of the acceleration Ac1 of the rotation speed of the motor 1 from the first start time point ts1 to the point where the dashed graph Li of fig. 3B reaches the second rotation speed Vb is used. At the first start time ts1, the absolute value of the acceleration Aa1 of the rotation speed V of the motor 1 in the solid line graph Lr of fig. 3B is made larger than the average value of the absolute values of the acceleration Ac1 in the broken line graph Li.
Further, the drive control unit 43 monotonically decreases the difference Δ V1 between the rotation speed V and the second rotation speed Vb from the first start time ts1 to the second time tb1 (step S303). In addition, the second time point Tb1 is a time point after the second time Tb1 of the first start time point ts 1.
Further, the drive control unit 43 makes the absolute value of the acceleration Aa1 of the rotation speed V from the first start time point ts1 to the second time point tb1 larger than the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 to the first arrival time point tg1 (step S304). The first arrival time tg1 is a time point at which the rotation speed V of the motor 1 reaches the second rotation speed Vb equal to 0, as shown in the solid line graph Lr of fig. 3B.
Then, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab1 from the second time tb1 to the first arrival time tg1 (step S305). That is, the drive control unit 43 monotonically increases the acceleration Ab1 after the second time tb1 until the rotation speed V of the motor 1 shown by the solid line graph Lr in fig. 3B reaches the second rotation speed Vb equal to 0.
When the rotation speed V of the motor 1 reaches the second rotation speed Vb (yes in step S306), the rotation stop control process B is ended, and the process proceeds to, for example, step S106 or S112 of fig. 4. If the rotation speed V of the motor 1 does not reach the second rotation speed Vb (no in step S306), the rotation speed control process in fig. 5B returns to step S303, for example.
Through the above control, the motor control device 4 can suppress undershoot when decelerating the motor 1 in the rotation stop control of the motor 1.
Next, an example of the acceleration control process C of the motor 1 will be described with reference to fig. 3C and 5C. For example, in step S110 in fig. 4, the acceleration control process C is started when the change command Sp received by the receiving unit 41 from the external device 300 is the acceleration command Sa. In the acceleration control process C, as shown in fig. 3C, the drive control unit 43 accelerates the rotation speed V of the motor 1 from the first rotation speed Va to the second rotation speed Vb.
First, the drive control unit 43 starts the rotation of the motor 1 at a first start time ts1 after a first time Ta1 from the first time Ta1 at which the acceleration command Sa is received (step S401). Then, the drive control unit 43 accelerates the motor 1.
At this time, the drive control unit 43 makes the absolute value of the acceleration of the rotation speed V of the motor 1 at the first start time point ts1 larger than the average value of the absolute values of the acceleration of the rotation speed V of the motor 1 from the first start time point ts1 to the first arrival time point tg1, for example (step S402). In the present embodiment, as the average value, an average value of absolute values of the acceleration Ac1 of the rotation speed of the motor 1 from the first start time point ts1 to the point where the dashed graph Li of fig. 3C reaches the second rotation speed Vb is used. At the first start time ts1, the absolute value of the acceleration Aa1 of the rotation speed V of the motor 1 in the solid line graph Lr of fig. 3C is made larger than the average value of the absolute values of the acceleration Ac1 in the broken line graph Li.
Further, the drive control unit 43 monotonically decreases the difference Δ V1 between the rotation speed V and the second rotation speed Vb from the first start time ts1 to the second time tb1 (step S403). In addition, the second time point Tb1 is a time point after the second time Tb1 of the first start time point ts 1.
Further, the drive control unit 43 makes the absolute value of the acceleration Aa1 of the rotation speed V from the first start time point ts1 to the second time point tb1 larger than the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 to the first arrival time point tg1 (step S404). The first arrival time tg1 is a time point at which the rotation speed V of the motor 1 reaches the second rotation speed Vb shown in the solid line graph Lr of fig. 3C.
Then, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab1 from the second time tb1 to the first arrival time tg1 (step S405). That is, the drive control unit 43 monotonously decreases the acceleration Ab1 until the rotation speed V of the motor 1 shown by the solid line graph Lr in fig. 3C reaches the second rotation speed Vb at or after the second time tb 1.
When the rotation speed V of the motor 1 reaches the second rotation speed Vb (yes at step S406), the acceleration control process C is ended, and the process returns to, for example, step S106 of fig. 4. When the rotation speed V of the motor 1 has not reached the second rotation speed Vb (no in step S406), the rotation speed control process of fig. 5C returns to step S403, for example.
Through the above control, the motor control device 4 can suppress overshoot when accelerating the motor 1 in the acceleration control of the motor 1.
Next, an example of the deceleration control process D of the motor 1 will be described with reference to fig. 3D and 5D. For example, in step S110 in fig. 4, the deceleration control process D is started when the change command Sp received by the receiving unit 41 from the external device 300 is the deceleration command Sd. In the deceleration control process D, as shown in fig. 3D, the drive control unit 43 decelerates the rotation speed V of the motor 1 from the first rotation speed Va to the second rotation speed Vb.
First, the drive control unit 43 starts the rotation of the motor 1 at a first start time ts1 after a first time Ta1 from a first time Ta1 at which the deceleration command Sd is received (step S501). Then, the drive control unit 43 decelerates the motor 1.
At this time, the drive control unit 43 makes the absolute value of the acceleration of the rotation speed V of the motor 1 at the first start time point ts1 larger than the average value of the absolute values of the acceleration of the rotation speed V of the motor 1 from the first start time point ts1 to the first arrival time point tg1, for example (step S502). In the present embodiment, as the average value, an average value of absolute values of the acceleration Ac1 of the rotation speed of the motor 1 from the first start time point ts1 to the point where the dashed graph Li of fig. 3D reaches the second rotation speed Vb is used. At the first start time ts1, the absolute value of the acceleration Aa1 of the rotation speed V of the motor 1 in the solid line graph Lr of fig. 3D is made larger than the average value of the absolute values of the acceleration Ac1 in the broken line graph Li.
Further, the drive control unit 43 monotonically decreases the difference Δ V1 between the rotation speed V and the second rotation speed Vb from the first start time ts1 to the second time tb1 (step S503). In addition, the second time point Tb1 is a time point after the second time Tb1 of the first start time point ts 1.
Further, the drive control unit 43 makes the absolute value of the acceleration Aa1 of the rotation speed V from the first start time point ts1 to the second time point tb1 larger than the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 to the first arrival time point tg1 (step S504). The first arrival time tg1 is a time point at which the rotation speed V of the motor 1 reaches the second rotation speed Vb shown in the solid line graph Lr of fig. 3D.
Then, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab1 from the second time tb1 to the first arrival time tg1 (step S505). That is, the drive control unit 43 monotonically increases the acceleration Ab1 until the rotation speed V of the motor 1 shown by the solid line graph Lr in fig. 3D reaches the second rotation speed Vb at and after the second time tb 1.
When the rotation speed V of the motor 1 reaches the second rotation speed Vb (yes at step S506), the deceleration control process D is ended, and the process returns to, for example, step S106 of fig. 4. When the rotation speed V of the motor 1 does not reach the second rotation speed Vb (no in step S506), the rotation speed control process in fig. 5D returns to step S503, for example.
By the above control, the motor control device 4 can suppress undershoot when decelerating the motor 1 in the deceleration control of the motor 1.
In the above-described start control process a, rotation stop control process B, acceleration control process C, and deceleration control process D, the rotation speed information includes the first rotation speed Va and the second rotation speed Vb. When the rotation speed V of the motor 1 is changed from the first rotation speed Va to the second rotation speed Vb, the drive control unit 43 starts to change the rotation speed V of the motor 1 at a first start time ts1 after a first time Ta1 from a first time Ta1 at which the change command Sp is received when the receiving unit 41 receives the change command Sp.
The drive control unit 43 makes the absolute value of the acceleration Aa1 of the rotation speed V from the first start time point ts1 to the second time point tb1 larger than the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 to the first arrival time point tg 1. In addition, the second time point Tb1 is a time point after the second time Tb1 of the first start time point ts 1. The first arrival time tg1 is a time point at which the rotational speed V of the motor 1 reaches the second rotational speed Vb. Further, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab1 of the rotation speed V from the second time tb1 to the first arrival time tg 1.
By these controls, the motor control device 4 can make the absolute value of the acceleration of the rotation speed V of the motor 1 smaller than the absolute value of the acceleration before the second time tb1 before the first arrival time tg1 until the rotation speed V of the motor 1 reaches the second rotation speed Vb from the first rotation speed Va. This can suppress overshoot or undershoot when accelerating or decelerating the rotation of the motor 1.
Further, the motor control device 4 changes the rotation speed V of the motor 1 after a first time Ta1 from the first time Ta1 at which the change command Sp is received. Thus, the motor control device 4 can make the motor control device 4 more accurately match the timing at which the rotation speed V of the motor 1 changes. Therefore, the acceleration or deceleration of the motor 1 can be performed more accurately and smoothly than in the case where the rotation speed V of the motor 1 is changed immediately from the first time point ta 1.
In this way, since the change command Sp is received at the first time point ta1 before the first start time point ts1, the rotation speed V of the motor 1 can be quickly increased from the first start time point ts1, and the rotation speed V can be sufficiently increased before the second time point tb1, so that the absolute value of the acceleration Ab1 after the second time point tb1 can be reduced, and thus, overshoot or undershoot can be suppressed.
The motor control method implemented by the above-described start control process a, rotation stop control process B, acceleration control process C, and deceleration control process D includes a step of receiving the change command Sp from the external device 300, and a step of controlling the driving of the motor 1 based on the change command Sp and the rotational speed information of the motor 1 stored in the storage unit 42. Here, the rotation speed information includes a first rotation speed Va and a second rotation speed Vb. The change command Sp indicates a change in the rotation speed V of the electric motor 1 from the first rotation speed Va to the second rotation speed Vb. The step of controlling the driving includes: a step of starting a change of the rotation speed V of the motor 1 at a start time ts1 after a first time Ta1 from a first time Ta1 at which the change command Sp is received when the change command Sp is received in the step of receiving; a step in which the absolute value of the acceleration Aa1 of the rotation speed V at a second time Tb1 after a second time Tb1 from the start time ts1 to the start time ts1 is greater than the absolute value of the acceleration Ab1 of the rotation speed V from the second time Tb1 to an arrival time tg1 at which the rotation speed V of the motor 1 reaches the second rotation speed Vb; and a step of monotonically decreasing the absolute value of the acceleration Ab1 of the rotation speed V from the second time point tb1 until the time point tg1 is reached.
According to this motor control method, overshoot or undershoot when accelerating or decelerating the rotation of the motor 1 can be suppressed. Further, the acceleration or deceleration of the motor 1 can be performed more accurately and smoothly than in the case where the rotation speed V of the motor 1 is changed immediately from the time point ta1 at which the change command Sp is received.
When the rotation speed V of the electric motor 1 is changed from the first rotation speed Va to the second rotation speed Vb, the drive control unit 43 monotonously decreases the difference Δ V1 between the rotation speed V and the second rotation speed Vb from the first start time ts1 to the second time tb 1. This allows the rotation speed V of the motor 1 to smoothly reach the second rotation speed Vb from the first rotation speed Va without overshooting.
When the rotation speed V of the motor 1 is changed from the first rotation speed Va to the second rotation speed Vb, the drive control unit 43 makes the absolute value of the acceleration of the rotation speed V of the motor 1 at the first start time point ts1 larger than the average value of the absolute values of the acceleration of the rotation speed V of the motor 1 from the first start time point ts1 to the first arrival time point tg 1. In this case, since the rotation speed V of the motor 1 can be rapidly accelerated, the rotation speed V of the motor 1 can be brought close to the second rotation speed Vb in as short a time as possible. Further, since the rotation speed V of the motor 1 can be rapidly accelerated, even if the absolute value of the acceleration Ab1 of the rotation speed V after the second time tb1 monotonically decreases, the rotation speed V can be set to the second rotation speed Vb with a margin until the time tg1 is reached.
In fig. 5A to 5D, the processes a to D are described by taking an example in which the processes a to D for changing the rotation speed V of the motor 1 are performed 1 time. However, the present invention is not limited to these examples, and the processes a to D may be performed a plurality of times in the rotation speed control of the motor 1.
Fig. 6 is a graph showing an example in the case where the process of changing the rotation speed V of the motor 1 is performed twice. In fig. 6, after the rotation speed V of the electric motor 1 is accelerated from the first rotation speed Va to the second rotation speed Vb, it is changed from the second rotation speed Vb to the third rotation speed Vc.
In this case, the drive control unit 43 can perform the same control as described above. For example, when the receiving unit 41 receives the change command Sp, the drive control unit 43 starts the change of the rotation speed V of the motor 1 at the second start time point ts2 from the third time point Ta2 at which the change command Sp is received to after the third time Ta 2. In this case, the rotation speed information includes the third rotation speed Vc. The change command Sp is a signal indicating a change in the rotation speed V of the electric motor 1 from the second rotation speed Vb to the third rotation speed Vc, and is an acceleration command Sa in fig. 6.
The drive control unit 43 makes the absolute value of the acceleration Aa2 of the rotation speed V from the second start time point ts2 to the fourth time point tb2 larger than the absolute value of the acceleration Ab2 of the rotation speed V from the fourth time point tb2 to the second arrival time point tg 2. In addition, the fourth time point Tb2 is a time point after the fourth time Tb2 of the second start time point ts 2. The second arrival time tg2 is a time point at which the rotation speed V of the motor 1 reaches the third rotation speed Vc. Further, the drive control unit 43 monotonically decreases the absolute value of the acceleration Ab2 of the rotation speed V from the fourth time tb2 to the second arrival time tg 2. The drive controller 43 monotonically decreases the difference Δ V2 between the rotation speed V and the third rotation speed Vc from the second start time ts2 to the fourth time tb 2.
According to these controls, overshoot or undershoot when accelerating or decelerating the rotation of the motor 1 can be suppressed even in the second speed change control of the motor 1. In the third and subsequent speed change controls, the same control as described above can be performed.
The embodiments of the present invention have been described above. The scope of the present invention is not limited to the above-described embodiments. The present invention can be implemented by variously changing the above-described embodiments without departing from the scope of the present invention. The matters described in the above embodiments can be combined arbitrarily as appropriate within a range not inconsistent with each other.
The present invention is useful for, for example, controlling an electric motor and a device for performing the control, and is particularly useful for controlling the rotation of an electric motor at various constant rotation speeds and a device for performing the control.
Claims (10)
1. A motor control device is provided with: a receiving unit that receives a change instruction from an external device; a storage unit that stores information on the rotational speed of the motor; and a drive control unit that controls driving of the motor based on the change command and the rotation speed information, the rotation speed information including a first rotation speed and a second rotation speed, the change command instructing a change in the rotation speed of the motor from the first rotation speed to the second rotation speed,
as for the above-mentioned drive control section,
when the receiving unit receives the change command, the rotation speed of the motor is started to change at a first start time point after a first time from a first time point at which the change command is received,
an absolute value of acceleration of the rotational speed at a second time point after a second time from the first start time point to the first start time point is made larger than an absolute value of acceleration of the rotational speed at a first arrival time point at which the rotational speed of the motor reaches the second rotational speed,
the absolute value of the acceleration of the rotational speed is monotonously decreased from the second time point to the first arrival time point.
2. The motor control device according to claim 1,
the drive control unit monotonically decreases a difference between the rotation speed and the second rotation speed from the first start time point to the second time point.
3. The motor control device according to claim 1 or 2,
the drive control unit makes an absolute value of the acceleration of the rotation speed of the motor at the first start time point larger than an average value of the absolute values of the accelerations of the rotation speed of the motor from the first start time point to the first arrival time point.
4. The motor control device according to any one of claims 1 to 3,
the rotational speed information includes a third rotational speed,
the change command indicates a change in the rotational speed of the electric motor from the second rotational speed to the third rotational speed,
as for the above-mentioned drive control section,
when the receiving unit receives the change command, the rotation speed of the motor starts to change at a second start time point after a third time from a third time point at which the change command is received,
an absolute value of acceleration of the rotational speed at a fourth time point after a fourth time from the second start time point to the second start time point is made larger than an absolute value of acceleration of the rotational speed at a second arrival time point from the fourth time point to the rotational speed of the motor reaching the third rotational speed,
and monotonically decreasing an absolute value of the acceleration of the rotation speed from the fourth time point to the second arrival time point.
5. The motor control device according to any one of claims 1 to 4,
the receiving unit further receives a speed command indicating the rotational speed of the motor from an external device,
the drive control unit controls the drive of the motor based on the speed command,
the change command and the second speed command are pulse signals,
the pulse width of the change command is different from the pulse width of the speed command.
6. The motor control device according to claim 5,
the pulse width of the change command is narrower than the pulse width of the speed command.
7. The motor control device according to any one of claims 1 to 6,
the receiving unit further receives a setting signal for setting a constant rotation speed of the motor when the motor is rotated at a constant speed from the external device,
the constant rotation speed includes the first rotation speed and the second rotation speed,
the drive control unit generates the rotational speed information based on the setting signal received by the receiving unit before starting the drive control of the motor.
8. The motor control device according to claim 7,
the setting signal includes a plurality of setting pulse signals indicative of respective ones of the constant rotational speeds,
the pulse width of each of the setting pulse signals is equal to the pulse width of the speed command indicating the same rotational speed as the setting pulse signal.
9. An electric motor unit, characterized in that,
the motor unit includes:
the motor control device according to any one of claims 1 to 8; and
and a motor driven and controlled by the motor control device.
10. A motor control method is characterized in that,
the motor control method includes:
a step of receiving a change instruction from an external device; and
a step of controlling the driving of the motor based on the change command and the rotational speed information of the motor stored in the storage unit,
the rotational speed information includes a first rotational speed and a second rotational speed,
the change command indicates a change in the rotational speed of the electric motor from the first rotational speed to the second rotational speed,
the step of controlling the driving includes:
a step of, when the change command is received in the receiving step, starting a change in the rotation speed of the motor at a start time point that is a first time after a first time point at which the change command is received;
a step of making an absolute value of acceleration of the rotational speed from the start time point to a second time point after a2 nd time from the start time point larger than an absolute value of acceleration of the rotational speed from the second time point to an arrival time point at which the rotational speed of the motor reaches the second rotational speed; and
and monotonically decreasing an absolute value of the acceleration of the rotational speed from the second time point to the arrival time point.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-193714 | 2019-10-24 | ||
| JP2019193714A JP2021069208A (en) | 2019-10-24 | 2019-10-24 | Motor control device, motor unit, and motor control method |
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| Publication Number | Publication Date |
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| CN112713839A true CN112713839A (en) | 2021-04-27 |
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| CN202011144078.2A Withdrawn CN112713839A (en) | 2019-10-24 | 2020-10-23 | Motor control device, motor unit, and motor control method |
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|---|---|---|---|---|
| JP2001245493A (en) * | 2000-02-28 | 2001-09-07 | Hitachi Ltd | Motor controller |
| JP2001327194A (en) * | 2000-05-12 | 2001-11-22 | Oriental Motor Co Ltd | Pulse oscillation ic and motor positioning control method and device using the ic |
| JP2002281787A (en) * | 2001-03-21 | 2002-09-27 | Tokyo Gas Co Ltd | Speed control method for stepping motor, weaving control method for welder, and metal to be welded |
| JP2004242440A (en) * | 2003-02-06 | 2004-08-26 | Fuji Electric Fa Components & Systems Co Ltd | Control method for motor |
| JP2016039748A (en) * | 2014-08-11 | 2016-03-22 | 株式会社リコー | Motor controller, motor control system, motor control method, and motor control program |
| CN107031451A (en) * | 2015-11-17 | 2017-08-11 | 富士电机株式会社 | Motor drive and electric motor drive system |
| CN108073140A (en) * | 2016-11-16 | 2018-05-25 | 发那科株式会社 | The control device and control method of lathe |
-
2019
- 2019-10-24 JP JP2019193714A patent/JP2021069208A/en active Pending
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2020
- 2020-10-23 CN CN202011144078.2A patent/CN112713839A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001245493A (en) * | 2000-02-28 | 2001-09-07 | Hitachi Ltd | Motor controller |
| JP2001327194A (en) * | 2000-05-12 | 2001-11-22 | Oriental Motor Co Ltd | Pulse oscillation ic and motor positioning control method and device using the ic |
| JP2002281787A (en) * | 2001-03-21 | 2002-09-27 | Tokyo Gas Co Ltd | Speed control method for stepping motor, weaving control method for welder, and metal to be welded |
| JP2004242440A (en) * | 2003-02-06 | 2004-08-26 | Fuji Electric Fa Components & Systems Co Ltd | Control method for motor |
| JP2016039748A (en) * | 2014-08-11 | 2016-03-22 | 株式会社リコー | Motor controller, motor control system, motor control method, and motor control program |
| CN107031451A (en) * | 2015-11-17 | 2017-08-11 | 富士电机株式会社 | Motor drive and electric motor drive system |
| CN108073140A (en) * | 2016-11-16 | 2018-05-25 | 发那科株式会社 | The control device and control method of lathe |
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| JP2021069208A (en) | 2021-04-30 |
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Application publication date: 20210427 |