JP6885436B2 - サーボアンプ及びサーボシステム - Google Patents

サーボアンプ及びサーボシステム Download PDF

Info

Publication number
JP6885436B2
JP6885436B2 JP2019165481A JP2019165481A JP6885436B2 JP 6885436 B2 JP6885436 B2 JP 6885436B2 JP 2019165481 A JP2019165481 A JP 2019165481A JP 2019165481 A JP2019165481 A JP 2019165481A JP 6885436 B2 JP6885436 B2 JP 6885436B2
Authority
JP
Japan
Prior art keywords
torque
load torque
unit
servo amplifier
value
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
Application number
JP2019165481A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021043714A (ja
Inventor
藍原　隆司
隆司 藍原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Electric Co Ltd
Original Assignee
Fuji Electric Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fuji Electric Co Ltd filed Critical Fuji Electric Co Ltd
Priority to JP2019165481A priority Critical patent/JP6885436B2/ja
Priority to KR1020200092518A priority patent/KR102567673B1/ko
Priority to CN202010732684.XA priority patent/CN112486219B/zh
Priority to TW109125245A priority patent/TWI734569B/zh
Publication of JP2021043714A publication Critical patent/JP2021043714A/ja
Application granted granted Critical
Publication of JP6885436B2 publication Critical patent/JP6885436B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • 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
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
JP2019165481A 2019-09-11 2019-09-11 サーボアンプ及びサーボシステム Active JP6885436B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2019165481A JP6885436B2 (ja) 2019-09-11 2019-09-11 サーボアンプ及びサーボシステム
KR1020200092518A KR102567673B1 (ko) 2019-09-11 2020-07-24 서보 앰프 및 서보 시스템
CN202010732684.XA CN112486219B (zh) 2019-09-11 2020-07-27 伺服放大器和伺服系统
TW109125245A TWI734569B (zh) 2019-09-11 2020-07-27 伺服放大器和伺服系統

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019165481A JP6885436B2 (ja) 2019-09-11 2019-09-11 サーボアンプ及びサーボシステム

Publications (2)

Publication Number Publication Date
JP2021043714A JP2021043714A (ja) 2021-03-18
JP6885436B2 true JP6885436B2 (ja) 2021-06-16

Family

ID=74862406

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019165481A Active JP6885436B2 (ja) 2019-09-11 2019-09-11 サーボアンプ及びサーボシステム

Country Status (4)

Country Link
JP (1) JP6885436B2 (zh)
KR (1) KR102567673B1 (zh)
CN (1) CN112486219B (zh)
TW (1) TWI734569B (zh)

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2569152B2 (ja) * 1988-10-17 1997-01-08 ファナック株式会社 サーボ制御方法
JPH02297603A (ja) * 1989-05-12 1990-12-10 Fanuc Ltd スライディングモードと外乱推定オブザーバを併用したサーボ制御方式
JP2838578B2 (ja) * 1990-06-19 1998-12-16 株式会社日立製作所 モータ制御装置、外乱負荷トルク推定装置
JPH0866893A (ja) * 1994-08-24 1996-03-12 Fanuc Ltd 衝突検出方法
JPH10203479A (ja) * 1997-01-23 1998-08-04 Mitsubishi Heavy Ind Ltd 水中ビークル位置・姿勢制御装置
JP3204207B2 (ja) * 1998-03-30 2001-09-04 松下電器産業株式会社 ロボットの制御装置とその制御方法
FI112734B (fi) * 1998-05-20 2003-12-31 Abb Oy Menetelmä ja sovitelma kuormitusmuutosten adaptiiviseksi kompensoinniksi
JP3757101B2 (ja) * 2000-06-09 2006-03-22 株式会社日立産機システム オンラインオートチューニングサーボ制御装置
JP4166157B2 (ja) * 2004-01-07 2008-10-15 三菱電機株式会社 電動機制御装置
JP2007219991A (ja) * 2006-02-20 2007-08-30 Fanuc Ltd 異常負荷検出装置
US7781996B2 (en) * 2006-06-23 2010-08-24 Fuji Electric Systems Co., Ltd. Speed control device for electric motor
CN101499696B (zh) * 2009-03-06 2010-12-22 北京理工大学 一种伺服系统控制方法
CN102063134A (zh) * 2009-11-18 2011-05-18 北京航空航天大学 控制力矩的装置和方法
KR101671527B1 (ko) * 2010-12-10 2016-11-01 두산공작기계 주식회사 부하 무게에 따른 실시간 서보 모터 제어기
JP2012130214A (ja) 2010-12-17 2012-07-05 Sanyo Denki Co Ltd モータ制御装置及びモータ制御方法
WO2014080456A1 (ja) * 2012-11-20 2014-05-30 株式会社安川電機 モータ駆動システムおよびモータ制御装置
TWI494725B (zh) * 2012-12-18 2015-08-01 Ind Tech Res Inst 控制裝置、控制方法及位置命令補償方法
JP2014240162A (ja) * 2013-06-12 2014-12-25 ファナック株式会社 射出成形機のバルブゲート制御装置
EP2889433B1 (en) * 2013-12-20 2019-05-01 Doosan Infracore Co., Ltd. System and method of controlling vehicle of construction equipment
JP6374274B2 (ja) * 2014-09-04 2018-08-15 国立大学法人長岡技術科学大学 制御装置及び減速機システム
EP3144754A1 (de) * 2015-09-17 2017-03-22 Siemens Aktiengesellschaft Dämpfung von lastschwingungen ohne zusätzliche messmittel an der lastseite
JP6451662B2 (ja) * 2016-02-23 2019-01-16 株式会社安川電機 異常判定装置、異常判定プログラム、異常判定システム、及びモータ制御装置
JP2018112972A (ja) * 2017-01-13 2018-07-19 ファナック株式会社 サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム
JP6426770B2 (ja) * 2017-02-06 2018-11-21 ファナック株式会社 サーボ制御装置
TWI620077B (zh) * 2017-02-08 2018-04-01 義守大學 以拉氏轉換法估測直流機參數之方法
JP6457569B2 (ja) * 2017-02-24 2019-01-23 ファナック株式会社 サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム
JP6464226B2 (ja) * 2017-06-14 2019-02-06 ファナック株式会社 電動機の制御装置
JP6703021B2 (ja) * 2018-02-20 2020-06-03 ファナック株式会社 サーボ制御装置
CN108649851B (zh) * 2018-06-08 2019-12-20 郑州轻工业学院 一种永磁同步电机最大转矩电流比控制方法
CN109856468B (zh) * 2018-12-25 2020-10-09 南京埃斯顿自动化股份有限公司 一种伺服电机动力线接线相序错误的检测方法

Also Published As

Publication number Publication date
KR102567673B1 (ko) 2023-08-16
CN112486219B (zh) 2022-02-08
TW202111456A (zh) 2021-03-16
KR20210031365A (ko) 2021-03-19
TWI734569B (zh) 2021-07-21
JP2021043714A (ja) 2021-03-18
CN112486219A (zh) 2021-03-12

Similar Documents

Publication Publication Date Title
JP4565034B2 (ja) イナーシャ推定を行う制御装置及び制御システム
US10564635B2 (en) Human-cooperative robot system
TWI716390B (zh) 伺服馬達控制裝置及衝突檢測方法
US7289915B2 (en) Method of estimating load inertia for a motor
US9952249B2 (en) Inertia estimating method and inertia estimation apparatus of position control apparatus
JP2012063164A (ja) センサ装置及びロボット装置
CN110340909B (zh) 使用电动机编码器和传感器来进行学习控制的机器人系统
KR20130116916A (ko) 로봇 및 로봇의 노이즈 제거 방법
JP6885436B2 (ja) サーボアンプ及びサーボシステム
JP6893792B2 (ja) 工作機械および振動抑制方法
JP5371882B2 (ja) 力制御装置
JP2001051721A (ja) 衝突検出装置
JP2017019057A (ja) ロボット制御装置、ロボットおよびロボットシステム
JP6614384B1 (ja) サーボアンプ及びサーボシステム
CN111404445B (zh) 伺服放大器和伺服系统
JP2016005296A (ja) モータ駆動装置の制御方法、モータ駆動装置及びロボット装置
JP7464391B2 (ja) モータエンコーダ及びセンサを用いて軌跡推定を行う機械システム
JP7176255B2 (ja) 電動機制御装置及び衝突検出方法
JP3871030B2 (ja) サーボ制御方法
JPH1142576A (ja) ロボットの制御方法および装置
JP2003131704A (ja) オーバーシュート抑制機能を備えたモータ制御装置
CN115533891A (zh) 加工系统、加工机器人控制装置及加工方法
JP3617783B2 (ja) 形状測定装置
JP2023116905A (ja) ロボット装置、制御方法、物品の製造方法、制御プログラム、及び記録媒体
JP2023180281A (ja) 加工システム、加工ロボット制御装置及び加工方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200514

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20200514

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20200514

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20200729

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200804

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201002

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20201208

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210205

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20210413

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210426

R150 Certificate of patent or registration of utility model

Ref document number: 6885436

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250