WO2008093486A1 - 慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置 - Google Patents

慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置 Download PDF

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Publication number
WO2008093486A1
WO2008093486A1 PCT/JP2007/075272 JP2007075272W WO2008093486A1 WO 2008093486 A1 WO2008093486 A1 WO 2008093486A1 JP 2007075272 W JP2007075272 W JP 2007075272W WO 2008093486 A1 WO2008093486 A1 WO 2008093486A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor position
moment
inertia
identification
inputting
Prior art date
Application number
PCT/JP2007/075272
Other languages
English (en)
French (fr)
Inventor
Fukashi Andoh
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to CN2007800462136A priority Critical patent/CN101558554B/zh
Priority to JP2008556021A priority patent/JP5151994B2/ja
Publication of WO2008093486A1 publication Critical patent/WO2008093486A1/ja

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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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Feedback Control In General (AREA)

Abstract

　摩擦や一定トルク外乱が存在する場合に、負荷の連結したモータの慣性モーメントを微小動作のみで精度良く同定することができる慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置を提供する。 　慣性モーメント同定器(108)が、モータ位置を入力し第１モータ位置と第２モータ位置を出力する切替器(109)と、第１モータ位置を入力し第１モータ位置記憶値を出力する第１モータ位置記憶器(110)と、位置指令と第１モータ位置記憶値を入力し第１モータ位置位相を出力する第１モータ位置位相演算器(111)と、第２モータ位置を入力し第２モータ位置記憶値を出力する第２モータ位置記憶器と(112)、位置指令と第２モータ位置記憶値を入力し第２モータ位置位相を出力する第２モータ位置位相演算器(113)と、第１モータ位置位相と第２モータ位置位相を入力し慣性モーメント同定値を出力する慣性モーメント演算器(114)同定器と、を備える。
PCT/JP2007/075272 2007-01-31 2007-12-28 慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置 WO2008093486A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2007800462136A CN101558554B (zh) 2007-01-31 2007-12-28 转动惯量辨识装置与其辨识方法以及具备该辨识装置的马达控制装置
JP2008556021A JP5151994B2 (ja) 2007-01-31 2007-12-28 慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-020627 2007-01-31
JP2007020627 2007-01-31

Publications (1)

Publication Number Publication Date
WO2008093486A1 true WO2008093486A1 (ja) 2008-08-07

Family

ID=39673800

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/075272 WO2008093486A1 (ja) 2007-01-31 2007-12-28 慣性モーメント同定装置とその同定方法、ならびにその同定装置を備えたモータ制御装置

Country Status (3)

Country Link
JP (1) JP5151994B2 (ja)
CN (1) CN101558554B (ja)
WO (1) WO2008093486A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054600A (zh) * 2016-05-30 2016-10-26 上海电力学院 设定值激励闭环辨识的梯形波信号参数整定方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101931354B (zh) * 2010-07-19 2012-11-21 北京理工大学 一种伺服系统干扰力矩的辨识和补偿方法
JP6290619B2 (ja) * 2013-12-19 2018-03-07 オークマ株式会社 モータの制御装置
CN105643627A (zh) * 2014-11-12 2016-06-08 沈阳新松机器人自动化股份有限公司 机器人运动控制的增益调整装置及方法
CN117335704A (zh) * 2022-06-23 2024-01-02 南京泉峰科技有限公司 电动工具及控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1146489A (ja) * 1997-07-24 1999-02-16 Yaskawa Electric Corp モータ制御装置
JP2007020267A (ja) * 2005-07-06 2007-01-25 Yaskawa Electric Corp システム同定装置
JP2007020297A (ja) * 2005-07-07 2007-01-25 Yaskawa Electric Corp システム同定装置およびそのシステム同定方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4367058B2 (ja) * 2003-09-04 2009-11-18 株式会社安川電機 モータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1146489A (ja) * 1997-07-24 1999-02-16 Yaskawa Electric Corp モータ制御装置
JP2007020267A (ja) * 2005-07-06 2007-01-25 Yaskawa Electric Corp システム同定装置
JP2007020297A (ja) * 2005-07-07 2007-01-25 Yaskawa Electric Corp システム同定装置およびそのシステム同定方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054600A (zh) * 2016-05-30 2016-10-26 上海电力学院 设定值激励闭环辨识的梯形波信号参数整定方法
CN106054600B (zh) * 2016-05-30 2019-02-22 上海电力学院 设定值激励闭环辨识的梯形波信号参数整定方法

Also Published As

Publication number Publication date
CN101558554A (zh) 2009-10-14
JPWO2008093486A1 (ja) 2010-05-20
JP5151994B2 (ja) 2013-02-27
CN101558554B (zh) 2011-08-17

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