WO2013129294A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2013129294A1 WO2013129294A1 PCT/JP2013/054715 JP2013054715W WO2013129294A1 WO 2013129294 A1 WO2013129294 A1 WO 2013129294A1 JP 2013054715 W JP2013054715 W JP 2013054715W WO 2013129294 A1 WO2013129294 A1 WO 2013129294A1
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- 230000001133 acceleration Effects 0.000 claims abstract description 489
- 230000007423 decrease Effects 0.000 claims abstract description 19
- 230000002123 temporal effect Effects 0.000 claims abstract description 12
- 230000001172 regenerating effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 17
- 230000009467 reduction Effects 0.000 claims description 11
- 238000012886 linear function Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 34
- 230000008569 process Effects 0.000 description 24
- 230000014509 gene expression Effects 0.000 description 23
- 230000000694 effects Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 17
- 238000004364 calculation method Methods 0.000 description 9
- 230000003247 decreasing effect Effects 0.000 description 7
- 238000004804 winding Methods 0.000 description 4
- 230000003252 repetitive effect Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B6/00—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential
- G05B6/02—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential electric
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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
Definitions
- the present invention relates to a motor control device that controls the operation of various motors such as a servo motor.
- Patent Documents 1 to 5 are disclosed as methods for reducing the power consumption during positioning control.
- Patent Document 1 discloses a head positioning device that reduces power consumption in accordance with a user's application, and efficiently performs positioning control regardless of temperature change, deterioration with time, and the like.
- the speed profile storage unit stores in advance a target speed profile A corresponding to high-speed seek and a target speed profile B with low seek speed but low power consumption so that the user can select it.
- a position error signal is obtained by comparing the current track position of the head and the target position in a subtractor.
- the target speed setting unit outputs the target speed of the head based on the position error signal and the target speed profile A or B of the speed profile storage unit.
- the control unit calculates the drive current of the head driving motor based on the speed error signal and the servo control constant.
- This calculated drive current is input to the motor drive unit.
- the initial value of the drive current is stored in the drive current initial value storage unit.
- the comparator compares the current drive current with the initial value.
- the servo control constant adjustment unit adjusts the servo control constant of the control unit based on the comparison result of the comparator.
- the shapes of the target speed profiles A and B are both triangular. In particular, the target speed profile B reduces power consumption by extending the seek time instead of decreasing the seek speed.
- Patent Document 2 discloses a thermal optimization method aiming to obtain a method for optimizing robot operation performance against power loss in a robot drive system. According to the method of patent document 2, a method for optimizing the operating performance of the current operating path of the robot against power loss in the drive system of an industrial robot, the method comprising at least one component of the system To calculate the power loss in all or part of the operating path, compare the calculated power loss with the maximum allowable power loss in the component, and depending on the comparison, the acceleration and speed in the current operating path The process of adjusting the transition of
- Patent Document 3 discloses a command pattern generation method for generating a command pattern that minimizes the temperature rise of the drive motor when a movement amount and a tact are specified. According to the method disclosed in Patent Document 3, two parameters including at least the maximum speed value ⁇ max or the maximum acceleration value ⁇ max are determined from the four parameters of the movement amount ⁇ max, the tact tact, the maximum speed value ⁇ max, and the maximum acceleration value ⁇ max. Then, the movement amount ⁇ max and the tact tact are specified, and a command pattern having a parabolic shape with a speed of 0 at the time 0 and the time tact and an area of the movement amount ⁇ max is generated. Copper loss is minimized by making the speed command pattern parabolic.
- Patent Document 4 discloses a machine tool control device for the purpose of optimally suppressing the power consumption of the entire machine tool.
- the apparatus of Patent Document 4 includes a first power consumption calculating unit that calculates power consumption of a feed shaft driving motor, a second power consumption calculating unit that calculates power consumption of a device that operates at a constant power, When there is a relative relationship with at least one of the acceleration time and the deceleration time of the feed shaft driving motor based on the sum of the power calculated by the first power consumption calculating means and the power calculated by the second power consumption calculating means Motor control means for determining a constant and controlling the motor for driving the feed shaft based on the time constant. The time constant is determined so that the total sum of power is minimized.
- Patent Document 5 discloses a trajectory generating apparatus that can reduce the required energy.
- the trajectory generation device of Patent Document 5 performs trajectory generation by interpolating between point sequences using a clothoid curve.
- the trajectory generation device includes an arithmetic processing unit having clothoid curve generation means, and the clothoid curve is a triple clothoid curve. Thereby, the continuity in the tangential direction and the continuity of the curvature at the passing point are ensured.
- the tangent direction is made to correspond with a straight line direction.
- Patent Document 6 discloses a robot control device that aims to reduce energy consumed when performing a PTP (point-to-point) operation without extending the operation time.
- the device of Patent Document 6 determines the operation start moment of each axis command so that the deceleration operations of a plurality of axes do not overlap in the control of the multi-axis motor common to the bus.
- the regenerative energy increases due to the overlap of the deceleration operations, preventing consumption by regenerative resistance.
- Patent Document 7 also discloses a robot control device that aims to reduce the energy consumed when performing the PTP operation without extending the operation time.
- the operation time of a plurality of axes is calculated, and the command time of the short operation time is extended in accordance with the longest operation time, thereby reducing the power consumption. To do.
- JP-A-5-325446 Special table 2004-522602 gazette JP 2007-241604 A JP 2010-250697 A JP 2011-145797 A JP 2012-192484 A JP 2012-192485 A
- Patent Document 1 discloses only a case where the shape of the speed profile is a triangle, and therefore there is a problem that sufficient energy saving cannot be realized by changing the speed profile according to the operating conditions.
- Patent Document 2 discloses minimizing heat and loss during positioning control, but does not disclose minimizing the entire energy including work.
- Patent Document 5 cannot cope with the case where the upper limit acceleration exists in the motor and the mechanical load.
- Patent Document 6 does not disclose a reduction in power consumption during positioning control of a single-axis motor.
- Patent Document 7 also does not disclose a reduction in power consumption during positioning control of a single-axis motor.
- An object of the present invention is to provide a motor control device that solves the above problems and controls the operation of the motor so as to reduce the power consumption during positioning control.
- the motor control device includes: A command value generation circuit for generating a position command value representing a desired position of the mechanical load at each moment; A motor drive circuit for controlling the motor to move the mechanical load according to the position command value; The command value generation circuit The mechanical load is accelerated from a state stopped at the first position to a peak speed, decelerated from the peak speed and stopped at the second position, and acceleration and deceleration of the mechanical load are performed.
- an acceleration profile A (t) representing a temporal acceleration change of the mechanical load so as to gradually decrease from the acceleration A max ;
- a speed profile representing a temporal speed change of the mechanical load is determined, The position command value is generated according to the speed profile.
- the motor control device of the present invention it is possible to reduce power consumption during positioning control.
- FIG. 7 is a diagram for explaining the effect of the position command value generation process of FIG. 6, and the values of functions f 1 (r) and f 2 (r) with respect to a parameter r representing a ratio of the movement time T to the shortest movement time T 0
- FIG. 7 is a diagram for explaining the effect of the position command value generation process of FIG. 6, and the values of functions g 1 (r) and g 2 (r) with respect to a parameter r representing a ratio of the movement time T to the shortest movement time T 0 .
- FIG. 1 is a block diagram showing a configuration of a positioning system including a motor control device according to Embodiment 1 of the present invention.
- the motor control device includes a command value generation circuit 7, a motor drive circuit 4, and a regenerative resistor 6, and the mechanical load 3 connected to the motor 1 is moved from the initial position (first position).
- the motor 1 is controlled to move to the target position (second position).
- the positioning system of FIG. 1 further includes a power source 5 and an encoder 2.
- the motor 1 is operated by the current 22 supplied from the motor driving circuit 4 and applies a driving force 21 such as torque or thrust to the mechanical load 3.
- a driving force 21 such as torque or thrust
- the mechanical load 3 for example, a ball screw mechanism is assumed, but the mechanical load 3 is not limited to this.
- the encoder 2 detects motor information 23 such as the rotational position (angle) and rotational speed of the rotating shaft of the motor 1 and sends it to the motor drive circuit 4.
- the rotation position and rotation speed of the rotation shaft of the motor 1 included in the motor information 23 correspond to the position and speed of the mechanical load 3.
- the command value generation circuit 7 generates a position command value 24 representing a desired position of the mechanical load 3 at each moment.
- the command value generation circuit 7 includes command value generation information including a travel distance D, a travel time T, and an upper limit acceleration A max from a host device (not shown) such as a programmable logic controller (PLC) or an operation panel. Is entered.
- the movement distance D represents the movement amount from the initial position of the mechanical load 3 to the target position.
- the movement time T represents the time required for the mechanical load 3 to move from the initial position to the target position.
- the movement time T input to the command value generation circuit 7 as the command value generation information is an arbitrary desired value.
- the upper limit acceleration A max is an acceleration that can be applied to the mechanical load 3 by the motor 1 (for example, an acceleration determined by a structural constraint of the mechanical load 3 or an acceleration specified by a user of the motor control device). Represents the upper limit of.
- the command value generation circuit 7 generates a position command value 24 by executing position command value generation processing described later with reference to FIG. 2 based on the input command value generation information. Since the rotational position and rotational speed of the rotating shaft of the motor 1 are detected as information corresponding to the position and speed of the mechanical load 3 as described above, the position command value 24 is actually the motor 1 at each moment. Represents the desired rotation position of the rotation axis.
- the motor drive circuit 4 controls the motor 1 to move the mechanical load 3 according to the position command value 24.
- the motor drive circuit 4 is a servo amplifier.
- the motor drive circuit 4 includes a power converter such as a PWM inverter, and generates a current 22 to be supplied to the motor 1 by the power 25 supplied from the power supply 5.
- the motor drive circuit 4 feeds back the rotational position (actual position) of the rotating shaft of the motor 1 detected by the encoder 2 to follow the position command value 24 (desired position) sent from the command value generation circuit 7.
- a control system is provided, whereby a current 22 for driving the motor 1 is calculated and generated so that the rotational position of the rotating shaft of the motor 1 follows the position command value 24, and the generated current 22 is supplied to the motor 1. .
- the power source 5 is, for example, a three-phase AC power source or a single-phase AC power source.
- the regenerative resistor 6 consumes regenerative power 26 when the motor 1 is in a regenerative state.
- the position command value 24 generated by the command value generation circuit 7 will be further described.
- the command value generation circuit 7 determines an acceleration profile A (t) representing a temporal acceleration change of the mechanical load 3, and changes the temporal speed change of the mechanical load 3 according to the acceleration profile A (t).
- a speed profile to be represented is determined, and a position command value 24 is generated according to the speed profile.
- the acceleration profile A (t) is accelerated from a state where the mechanical load 3 is stopped at the initial position to the peak velocity V p, so as to stop at the target position by decelerating from the peak velocity V p, and the machine load as the absolute value of the acceleration during the acceleration and deceleration of 3 is less than the upper limit acceleration a max, and maintain a predetermined upper limit acceleration a max over a predetermined time period from the start of the acceleration of the mechanical load 3 Then, it is determined so as to gradually decrease from the upper limit acceleration Amax .
- the acceleration profile A (t) is determined so that the mechanical load 3 is moved from the initial position to the target position with the movement time T.
- the shortest movement time T 0 is determined by accelerating the mechanical load 3 from the state where the mechanical load 3 is stopped at the initial position to the predetermined peak speed with the upper limit acceleration A max. It is the time from deceleration to max and stopping at the target position.
- the area obtained by integrating the speed profile over the movement time T is the movement distance D.
- Each embodiment of the present invention proposes an acceleration profile A (t) having various shapes (thus, a velocity profile having various shapes).
- the power consumption during the positioning operation can be reduced by using these acceleration profiles A (t).
- the electric energy does not indicate the electric power per unit time, but the total electric energy during the positioning operation (the integrated electric energy obtained by integrating or integrating the electric power per unit time during the positioning operation time). ).
- FIG. 2 is a flowchart showing a position command value generation process executed by the command value generation circuit 7 of FIG.
- the acceleration profile A (t) includes an acceleration time for accelerating at a first acceleration from a state in which the mechanical load 3 is stopped at the initial position to a peak speed V p, and the mechanical load 3 at the peak speed V.
- the absolute values of the first and second accelerations are the upper limit acceleration A max . Therefore, the present embodiment is characterized in that a speed profile having a trapezoidal shape is generated.
- step S 1 the movement distance D, the movement time T, and the upper limit acceleration A max are input to the command value generation circuit 7.
- step S2 to calculate the shortest travel time T 0.
- step S3 the movement time T to determine longer or not than the shortest travel time T 0, the process proceeds to step S5.
- step S4 the travel time T may be increased by 10%, but the present invention is not limited to this.
- step S5 the acceleration time and the deceleration time T 1, the uniform time T 2, to calculate the peak velocity V p.
- the length T 1 of acceleration time and deceleration time and the length T 2 of constant speed time are given by the following equations.
- V p A max ⁇ T 1 .
- step S5 Furthermore, the calculated acceleration time and deceleration time T 1, the uniform time T 2, by the peak velocity V p, to determine the acceleration profile A (t).
- step S6 the velocity profile is determined by integrating the acceleration profile A (t).
- step S7 the position command value 24 is generated by integrating the speed profile, and the process is terminated.
- FIG. 3 is a schematic diagram showing an acceleration profile and velocity profile for describing the shortest travel time T 0.
- the acceleration profile and speed profile when the shortest time control is performed are indicated by bold dotted lines.
- Acceleration profile at this time is accelerated with the upper limit acceleration A max from time 0 to half of the time T 0/2 of the shortest moving time, so as to decelerate in upper acceleration limit A max from the time T 0/2 until the shortest movement time T 0 To be determined. Accordingly, the mechanical load 3 is accelerated at the upper limit acceleration A max from the state stopped at the initial position to the predetermined peak speed, and decelerated at the upper limit acceleration A max at the moment when the peak speed is reached, and stops at the target position.
- the speed profile when performing the shortest time control has a triangular shape.
- the upper limit acceleration A max exists, it is impossible to move the mechanical load 3 in a movement time shorter than the shortest movement time T 0 . Only when moving the mechanical load 3 according to the position command value 24 generated from the acceleration profile and speed profile shown by the thick dotted line in FIG. 3, the shortest time of the moving distance D and the moving time T 0 without exceeding the upper limit acceleration A max. Control can be realized.
- step S3 when the movement time T is equal to or shorter than the shortest movement time T 0 (step S3 is NO), the movement time T is increased (step S4). It aims at reducing. However, in the present embodiment, as indicated by the thick solid line in FIG. 3, the absolute value of the acceleration is simply decreased according to the amount of increase in the movement time T from the shortest movement time T 0 (that is, similar to the shortest time control). 4), a trapezoidal speed profile as shown in FIG.
- FIG. 4 is a schematic diagram showing an acceleration profile A (t) and a velocity profile generated by the command value generation circuit 7 of FIG.
- the acceleration profile A (t) includes an acceleration time during which the mechanical load 3 is stopped at the initial position to a peak speed V p at an acceleration a, and a constant speed time during which the mechanical load 3 is moved at the peak speed V p. consists deceleration time to stop at the target position by decelerating at the acceleration a mechanical load 3 from the peak velocity V p.
- the length of the acceleration time and the length of the deceleration time are equal to each other.
- the trapezoidal velocity profile is uniquely determined using the acceleration a representing the absolute value of acceleration during acceleration time and deceleration time as a parameter when the movement distance D and movement time T are given.
- the acceleration a representing the absolute value of acceleration during acceleration time and deceleration time as a parameter when the movement distance D and movement time T are given.
- acceleration time and deceleration time T 1 and constant velocity time T 2 are given by the following equations.
- the upper limit of the absolute value of the acceleration a is the upper limit acceleration A max
- the lower limit is, when the constant velocity time T 2 becomes 0, i.e., an acceleration when the speed profile is triangular.
- the peak velocity V p in the velocity profile can be expressed by the following equation.
- the operation state of the motor 1 when performing the positioning control according to the trapezoidal speed profile of FIG. 4 is an “acceleration operation state” in which the speed increases, and a “constant speed operation state in which the speed keeps a constant value”. And “deceleration operation state” in which the speed decreases.
- this classification can be applied not only to a trapezoidal speed profile as shown in FIG. 4 but also to a speed profile having a more general acceleration / deceleration pattern.
- the amount of electric power related to the motor output is calculated for each operation state.
- the third equal sign uses the differential formula of the product function.
- the electric energy related to the motor output in the acceleration operation state is represented by 1/2 ⁇ J ⁇ V p 2 . This is equivalent to kinetic energy when the mechanical load 3 and the motor 1 is operated at the peak rate V p.
- the motor 1 when the motor 1 is in a decelerating operation state, that is, when the time t in FIG. 4 is TT 1 ⁇ t ⁇ T, a negative acceleration is generated to decrease the speed v.
- the speed v since the speed v is in the positive direction, the speed v and the torque ⁇ have different signs, and the motor output power W per unit time becomes a negative value.
- a negative value of the motor output power W means that the motor 1 is in a regenerative state (regenerative power is generated), and the motor 1 does not consume power.
- This regenerative power is consumed by the regenerative resistor 6 in FIG. From another viewpoint, this means that the kinetic energy obtained during the acceleration operation state is consumed by the regenerative resistor 6 during the deceleration operation state and is discarded as heat energy.
- the electric energy related to the motor output in the acceleration operation state is dominant, and this electric energy is the peak speed V of the mechanical load 3 and the motor 1. Equivalent to kinetic energy when operating at p . Therefore, in order to reduce the amount of power, the kinetic energy is small, i.e., it is necessary to reduce the peak velocity V p.
- dV p / da in equation (9) is negative.
- the peak speed Vp is minimized when the acceleration a is equal to the upper limit acceleration Amax . Since the kinetic energy is proportional to the square of the speed, the amount of electric power related to the motor output is minimized when the acceleration a is equal to the upper limit acceleration Amax .
- the amount of loss consumed by the winding resistance of the motor 1 is calculated out of the electric energy required for the positioning control. Assuming that the winding resistance of the motor 1 is R and the current I flowing through the motor 1 is, the loss power L per unit time is expressed by the following equation.
- the current I is expressed as follows using the acceleration a.
- the current I flowing through the motor 1 is proportional to the acceleration a.
- the electric energy related to the motor output is calculated for each of the “acceleration operation state”, “constant speed operation state”, and “deceleration operation state”, but the loss generated in the motor 1 is also calculated for each of these operation states.
- the acceleration a is not 0 when the motor 1 is in the acceleration operation state
- the current I is not 0 from the equation (13). Therefore, the loss power L is generated according to the equation (11), and the amount of power corresponding to the loss power L is consumed. Since the acceleration a is 0 when the motor 1 is in a constant speed operation state, the current I can be regarded as almost 0. Accordingly, at this time, the loss power L can be regarded as almost zero.
- the electric energy E (a) related to the loss in the acceleration operation state that is, the electric energy obtained by integrating the lost electric power L over the acceleration time (0 ⁇ t ⁇ T 1 ) is expressed by the equations (11) and (11) 13) is expressed by the following equation.
- FIG. 5 is a schematic diagram showing changes in loss with respect to acceleration a.
- the vertical axis in FIG. 5 represents a value obtained by dividing the amount of power E (a) related to the loss in Expression (14) by R ⁇ (J / K T ) 2 ⁇ T / 2 ⁇ A min 2 .
- the loss monotonously decreases as the acceleration a increases.
- the loss increases monotonically as the acceleration a increases.
- the amount of power required for positioning control is the sum of the amount of power related to motor output and the amount of power related to loss.
- the motor control device of the present embodiment it is possible to reduce power consumption during positioning control.
- Embodiment 2 In the first embodiment, positioning control is performed according to a trapezoidal speed profile in order to reduce power consumption. However, in this embodiment, a speed profile different from this is used.
- the configuration of the positioning system including the motor control device according to the second embodiment is the same as that of the first embodiment (FIG. 1), but the position command value generation process executed by the command value generation circuit 7 is the same as the first embodiment. Different from 1.
- FIG. 6 is a flowchart showing position command value generation processing according to Embodiment 2 of the present invention.
- steps S1 to S4 are the same as those in the first embodiment (FIG. 2), and thus description thereof is omitted.
- step S4 is YES
- the process proceeds to step S11.
- step S11 it determines whether the movement time T is less than ⁇ (3/2) times the shortest travel time T 0, when YES, the process proceeds to step S12, and if NO then the process proceeds to step S14.
- an acceleration profile A (t) and a velocity profile having different shapes are generated according to YES or NO in step S11.
- step S11 When step S11 is YES, that is, when the movement time T satisfies T 0 ⁇ T ⁇ (3/2) ⁇ T 0 , the acceleration profile A (t) is the first positive load on the mechanical load 3.
- a first equal acceleration time for acceleration by acceleration, an acceleration reduction time for continuously decreasing the acceleration applied to the mechanical load 3 as a linear function of time from the first acceleration to a negative second acceleration, and a mechanical load. 3 is a second constant acceleration time for decelerating at a second acceleration.
- the absolute values of the first and second accelerations are the upper limit acceleration A max .
- steps S12 to S13 the acceleration profile A (t) shown in FIG. 7 is generated.
- step S12 the first and second constant acceleration time T 3 is calculated by the following equation.
- step S13 based on the constant acceleration time T 3, to determine the acceleration profile A (t), with respect to 0 ⁇ t ⁇ T time varies across t as follows.
- step S11 is NO, that is, when the movement time T satisfies T ⁇ ⁇ (3/2) ⁇ T 0 , the command value generation circuit 7 has a predetermined peak acceleration A p smaller than the upper limit acceleration A max. And then, using this peak acceleration Ap , an acceleration profile A (t) is determined.
- the acceleration profile A (t) starts to accelerate at the peak acceleration A p from the state where the mechanical load 3 is stopped at the first position, and the acceleration applied to the mechanical load 3 is a linear function of time from A p to ⁇ A p. continuously reduced as a finally determined to stop at the second position by decelerating at a peak acceleration a p.
- steps S14 to S15 an acceleration profile A (t) shown in FIG. 8 is generated.
- step S14 it calculates the peak acceleration A p by the following equation.
- step S15 based on the peak acceleration A p, to determine the acceleration profile A (t), the following equation with respect to time t vary over 0 ⁇ t ⁇ T.
- steps S6 to S7 are substantially the same as those in the first embodiment (FIG. 2).
- step S6 the velocity profile is determined by integrating the acceleration profile A (t) determined in step S13 or S15.
- step S7 the position command value 24 is generated by integrating the speed profile, and the process is terminated.
- the movement distance D can be moved by the movement time T.
- Constant acceleration time T 3 in the formula (16), or, the peak acceleration A p in the formula (18) is determined so as to move the moving distance D in moving time T.
- FIG. 7 is a schematic diagram showing the acceleration profile A (t) (formula (16)) determined in step S13 of FIG. 6 and the corresponding velocity profile.
- the absolute value of the acceleration becomes the upper limit acceleration A max only in the first and second constant acceleration time is always less than the upper limit acceleration A max is the acceleration reduction time. Therefore, obviously, the acceleration profile A (t) in FIG. 7 does not exceed the upper limit acceleration Amax .
- FIG. 8 is a schematic diagram showing the acceleration profile A (t) (formula (18)) determined in step S15 of FIG. 6 and the corresponding velocity profile.
- the inequality sign in Expression (20) uses that the movement time T satisfies T ⁇ ⁇ (3/2) ⁇ T 0 . Therefore, the peak acceleration A p does not exceed the upper limit acceleration A max.
- the establishment of the inequality sign means that step S11 in FIG. 6 is NO, that is, T> ⁇ (3/2) ⁇ T 0 . Therefore, when the position command value generation process of FIG. 6 is performed, an acceleration profile A (t) that does not exceed the upper limit acceleration Amax , regardless of which of steps S12 to S13 or steps S14 to S15 is performed by the conditional branch of step S11. Can be generated.
- the amount of power required for positioning control includes the amount of power related to motor output and the amount of power related to loss.
- the electric energy related to the motor output is approximately equal to the kinetic energy determined from the peak speed.
- the amount of power related to loss is dominated by the loss during acceleration, and the loss power can be calculated from the current flowing during acceleration.
- the peak velocity V p V p1 when using the acceleration profile A (t) of equation (16) is calculated.
- the peak velocity V p1 is obtained by integrating the equation (16) over a time period during which the positive acceleration is applied (from time 0 to half of the moving time T / 2) as in the following equation.
- the amount of electric power related to the loss can be obtained by integrating the power loss L in the equation (11) over a time when the acceleration is positive (0 ⁇ t ⁇ T / 2).
- the electric energy E L1 related to the loss when the positioning control is performed using the acceleration profile A (t) of Expression (16) is expressed by the following expression. .
- Positioning control is performed using the speed profile represented by the solid line in FIG. 3, and the electric energy related to the motor output and the electric power related to the loss when moving the moving distance D by the moving time T are calculated as follows.
- the velocity profile has a triangular shape.
- the peak velocity V p2 and the electric energy E L2 related to the loss are calculated by the following equations.
- Expression (29) to Expression (32) are expressed as the following expressions.
- FIG. 9 is a schematic diagram showing changes in values of the functions f 1 (r) and f 2 (r) with respect to the parameter r.
- the solid line represents the function f 1 (r)
- the dotted line represents the function f 2 (r). According to FIG. 9, it can be seen that when 1 ⁇ r ⁇ (3/2), f 1 (r) ⁇ f 2 (r) regardless of the value of the parameter r.
- the peak speed V p1 when the positioning control is performed using the acceleration profile A (t) of the equation (16) is based on the peak speed V p2 when the positioning control is performed using the triangular speed profile.
- the amount of electric power related to the motor output is also greater when the positioning control is performed using the acceleration profile A (t) of the equation (16) than when the positioning control is performed using the triangular speed profile. It means that is smaller.
- FIG. 10 is a schematic diagram showing changes in values of the functions g 1 (r) and g 2 (r) with respect to the parameter r.
- the solid line represents the function g 1 (r)
- the dotted line represents the function g 2 (r).
- E L1 related to the loss when the positioning control is performed using the acceleration profile A (t) of the equation (16) is the electric power related to the loss when the positioning control is performed using the triangular speed profile. It represents that the amount is smaller than E L2 .
- the electric power related to the motor output is greater when the positioning control is performed using the acceleration profile A (t) of Expression (16) than when the positioning control is performed using the triangular speed profile. Since both the amount and the amount of power related to loss are small, it can be said that the total amount of power is also small.
- the peak speed V p3 when the positioning control is performed using the acceleration profile A (t) of the equation (18) and the electric energy E L3 related to the loss generated at that time are calculated.
- the peak velocity V p3 is obtained by integrating the equation (18) over the time for applying the positive acceleration (from time 0 to half of the moving time T / 2) as in the following equation.
- V p3 ⁇ V p2 and E L3 ⁇ E L2 hold. This is because when the positioning control is performed using the acceleration profile A (t) of the equation (18) rather than when the positioning control is performed using the triangular speed profile, the electric energy related to the motor output is This shows that the amount of power related to loss is also reduced.
- the position command value 24 can be calculated with a small calculation load. .
- the motor control device of the present embodiment it is possible to reduce power consumption during positioning control.
- Embodiment 3 In the first and second embodiments, the effect has been described by calculating the amount of power consumption when performing positioning control quantitatively and showing that this is reduced. In the present embodiment, the effect will be described by a method different from this.
- the configuration of the positioning system including the motor control device according to the third embodiment is the same as that of the first embodiment (FIG. 1), but the position command value generation process executed by the command value generation circuit 7 is the same as that of the first embodiment. Different from 1.
- FIG. 11 is a flowchart showing a position command value generation process according to Embodiment 3 of the present invention.
- steps S1 to S4 are the same as those in the first embodiment (FIG. 2), and thus description thereof is omitted.
- step S4 is YES
- the process proceeds to step S21, and the acceleration profile A (t) is determined in steps S21 to S22.
- the acceleration profile A (t) includes a first constant acceleration time for accelerating the mechanical load 3 at a positive first acceleration, and an acceleration applied to the mechanical load 3 from the first acceleration to a negative second acceleration. It consists of an acceleration reduction time for continuously decreasing and a second constant acceleration time for decelerating the mechanical load 3 at the second acceleration.
- the absolute values of the first and second accelerations are the upper limit acceleration A max .
- the acceleration profile A (t) is generated as shown in FIG. 12, for example.
- step S12 the first and second constant acceleration time T 3 is calculated by the following equation.
- step S22 based on the constant acceleration time T 3, to determine the acceleration profile A (t), with respect to 0 ⁇ t ⁇ T time varies across t as follows.
- FIG. 12 is a schematic diagram showing the acceleration profile A (t) determined in step S22 of FIG. 11 and the corresponding velocity profile.
- the acceleration profile A (t) is determined so as to maintain the upper limit acceleration A max for the equal acceleration time T 3 after the acceleration of the mechanical load 3 is started and then gradually decrease from the upper limit acceleration A max .
- the acceleration profile A (t) in the equation (40) is determined so that the mechanical load 3 is moved from the initial position to the target position in the movement time T (that is, the equation (19) is satisfied). , constant acceleration time T 3 of the formula (39) is obtained.
- the acceleration profile A (t) of the equation (40) is taken as an example.
- the acceleration profile A (t) is not limited to this, and the upper limit acceleration A max over the constant acceleration time T 3 after the acceleration of the mechanical load 3 is started. Can be used as long as the acceleration profile is determined so as to be maintained and then gradually decreased from the upper limit acceleration Amax .
- Another example is the acceleration profile A (t) (formula (16)) in FIG. 7 described in the second embodiment.
- FIG. 13 is a schematic diagram showing an acceleration profile and a corresponding velocity profile used in the position command value generation process according to a modification of the third embodiment of the present invention.
- the acceleration profile A (t) has been described above as long as the acceleration profile A (t) has a shape that maintains the upper limit acceleration Amax for a predetermined time after the acceleration of the mechanical load 3 is started and then gradually decreases from the upper limit acceleration Amax .
- Other shapes different from those may be used.
- the acceleration in the acceleration reduction time is not limited to continuously decreasing as shown in FIG. 12, but may be reduced stepwise as shown in FIG.
- the acceleration profile A (t) in FIG. 13 is expressed by the following equation.
- the acceleration profile A (t) of the equation (41) is determined so as to move the mechanical load 3 from the initial position to the target position in the movement time T, that is, to satisfy the following equation.
- FIG. 14 is a schematic diagram showing a first acceleration profile A (t) and a velocity profile for explaining the effect according to the third embodiment of the present invention.
- FIG. 15 is a schematic diagram showing a second acceleration profile A (t) and a velocity profile for explaining the effect according to the third embodiment of the present invention. 14 and 15, the same mechanical load 3 is moved over the movement time T using the same motor 1. Assuming that A 1 > A 2 ⁇ 0, the acceleration profile A (t) in FIG. 14 is expressed by the following equation.
- the acceleration profile A (t) in FIG. 14 a large acceleration is generated when the speed is small, and a small acceleration is generated when the speed is large. Accordingly, the acceleration is positive time (0 ⁇ t ⁇ T / 2 ) the first half (0 ⁇ t ⁇ T / 4 ) to a large acceleration A 1 occurs among the backward half (T / 4 ⁇ t ⁇ T / 2) generating a small acceleration a 2 in.
- the acceleration is negative (T / 2 ⁇ t ⁇ T)
- a small acceleration A 2 is generated in the first half (T / 2 ⁇ t ⁇ (3/4) T)
- the second half ((3/4) T ⁇ generate the acceleration a 1 large t ⁇ T).
- acceleration profile A (t) in FIG. 15 is expressed by the following equation.
- a small acceleration is generated when the speed is low, and a large acceleration is generated when the speed is high. Accordingly, a small acceleration A 2 is generated in the first half (0 ⁇ t ⁇ T / 4) of the time when the acceleration is positive (0 ⁇ t ⁇ T / 2), and the second half (T / 4 ⁇ t ⁇ T / 2). the acceleration a 1 generates large.
- the acceleration is negative (T / 2 ⁇ t ⁇ T)
- a large acceleration A 1 is generated in the first half (T / 2 ⁇ t ⁇ (3/4) T) and the second half ((3/4) T ⁇ generate a small acceleration a 2 to t ⁇ T).
- the loss during the acceleration operation is dominant in the electric energy related to the loss. Since the current and the acceleration are in a proportional relationship as described above, the electric energy related to the loss generated when the positioning control is performed using the acceleration profile A (t) in FIGS. 14 and 15 is the mechanical load 3. and using the total value J of the inertia of the motor 1, the motor 1 and a torque constant K T is expressed by the following equation.
- the acceleration profile A (t) of FIG. 14 is used.
- the distance traveled becomes larger.
- the acceleration in the acceleration profile A (t) in FIGS. 14 and 15 in order to move the same movement distance D with the same movement time T, the acceleration in the acceleration profile A (t) in FIG. A 1 and A 2 ) must be smaller than the acceleration in the acceleration profile A (t) in FIG. 15 (accelerations A 1 and A 2 in FIG.
- the kinetic energy at the time of positioning control can be made small.
- the kinetic energy can be regarded as the amount of electric power related to the motor output, so that the amount of electric power related to the motor output can be reduced.
- the movement time T is divided into four sections, and the speed profile in which the acceleration is constant in each section has been described.
- the movement time T may be divided into more sections.
- the acceleration composed of the first constant acceleration time, the acceleration reduction time, and the second constant acceleration time, which is represented by Expression (39) and Expression (40), or Expression (41) and Expression (43).
- the profile A (t) does not include repetitive calculations or the like to calculate, and includes only algebraic calculation, so that the position command value 24 can be calculated with a small calculation load.
- the motor control device of the present embodiment it is possible to reduce power consumption during positioning control.
- Embodiment 4 In the first to third embodiments, the case where the shape of the acceleration profile is symmetrical between acceleration and deceleration (therefore, the case where the shape of the speed profile is symmetrical between acceleration and deceleration) has been described.
- the embodiment of the invention is not limited to this, and the shape of the acceleration profile may be asymmetric between acceleration and deceleration.
- the fourth embodiment a case where such an acceleration profile is used will be described.
- FIG. 16 is a schematic diagram showing an acceleration profile and a corresponding velocity profile used in the position command value generation process according to Embodiment 4 of the present invention.
- the acceleration profile A (t) in FIG. 16 is expressed by the following equation.
- the acceleration profile A (t) of the equation (47) is also set so that the mechanical load 3 is moved from the initial position to the target position in the movement time T, and the acceleration of the mechanical load 3 is started for a predetermined time T. It is determined to maintain the upper limit acceleration A max over 3 and then gradually decrease from the upper limit acceleration A max .
- the acceleration profile A (t) of the equation (47) has different shapes when accelerating and decelerating.
- Time T 3 of the formula (47) shall be calculated by the equation (15).
- acceleration A 3 and the time T 5 in the equation (47) are determined as follows.
- the speed needs to change continuously.
- the value obtained by integrating the acceleration profile over the acceleration time in which the acceleration is positive needs to be equal to the absolute value of the value obtained by integrating the acceleration profile over the deceleration time in which the acceleration is negative.
- the acceleration time and the deceleration time are equal to each other, and therefore, the acceleration time is 0 ⁇ t ⁇ T / 2 and the deceleration time is T / 2 ⁇ t ⁇ T. .
- the following equation needs to be established for equation (47).
- acceleration profiles described in the first to third embodiments described above are symmetrical in shape when accelerating and decelerating, so that the speed is automatically continuous.
- the mechanical load 3 is moved in the movement time T over the movement distance D using the acceleration profile of the equation (47).
- the portion corresponding to the acceleration time of the acceleration profile of Expression (47) is the same as that described in the second embodiment, and therefore the distance moved during the acceleration time is D / 2.
- the acceleration profile of Expression (47) is used, in order for the total distance traveled during the acceleration time and the deceleration time to be the travel distance D, the distance traveled during the deceleration time needs to be D / 2. is there.
- the acceleration profile of formula (47) the distance traveled during the deceleration time is expressed by the following equation using the T 5 acceleration A 3 and time.
- the acceleration A 3 and the time T 5 are calculated by solving the simultaneous equations of the equations (48) and (53) in which A 3 and T 5 are unknowns.
- the acceleration A 3 and time using the T 5 determines the acceleration profile of formula (47), then to determine the velocity profile in accordance with the acceleration profile A (t), and generates a position command value 24 according to the speed profile.
- the power consumption when performing positioning control is calculated by the sum of the power amount related to the motor output and the power amount related to the loss, and the power amount related to the motor output and the power amount related to the loss. In both cases, the amount of power used during the acceleration operation is dominant.
- the acceleration profile of Expression (47) the acceleration profile is determined so as to maintain the upper limit acceleration A max for a predetermined time T 3 after the acceleration of the mechanical load 3 is started and then gradually decrease from the upper limit acceleration A max. As a result, the amount of power required during the acceleration operation can be reduced.
- acceleration A 3 and time T 5 parameters related to the acceleration profile are calculated so that the mechanical load 3 is moved over the movement distance D at the movement time T and the velocity profile is continuous over the movement time T. Therefore, by performing positioning control using this acceleration profile, it is possible to reduce the amount of power required for positioning without causing impact or vibration when performing positioning control while performing desired positioning control. There is an effect.
- the calculation amount is reduced in consideration of the limitation of the upper limit acceleration, and the positioning control value can be reduced.
- a position command value that can reduce power consumption is generated.
- the power consumption can be reduced by 14 to 25%, which is close to the numerical optimum solution, compared with the conventional motor control device, and real-time and online implementation which is difficult with the numerical optimum solution. Can give an approximate solution.
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Abstract
Description
モータに接続された機械的負荷を第1の位置から第2の位置に移動させるように上記モータを制御するモータ制御装置において、上記モータ制御装置は、
各瞬間における上記機械的負荷の所望位置を表す位置指令値を生成する指令値生成回路と、
上記位置指令値に従って上記機械的負荷を移動させるように上記モータを制御するモータ駆動回路とを備え、
上記指令値生成回路は、
上記機械的負荷を上記第1の位置において停止した状態からピーク速度まで加速し、上記ピーク速度から減速して上記第2の位置において停止させるように、かつ、上記機械的負荷の加速及び減速を行う際の加速度の絶対値が所定の上限加速度Amax以下であるように、かつ、上記機械的負荷の加速を開始してから所定時間にわたって所定の上限加速度Amaxを維持し、その後に上記上限加速度Amaxから漸減するように、上記機械的負荷の時間的な加速度変化を表す加速度プロファイルA(t)を決定し、
上記加速度プロファイルA(t)に従って、上記機械的負荷の時間的な速度変化を表す速度プロファイルを決定し、
上記速度プロファイルに従って上記位置指令値を生成することを特徴とする。
図1は、本発明の実施の形態1に係るモータ制御装置を含む位置決めシステムの構成を示すブロック図である。図1の位置決めシステムにおいて、モータ制御装置は、指令値生成回路7、モータ駆動回路4、及び回生抵抗6を含み、モータ1に接続された機械的負荷3を初期位置(第1の位置)から目標位置(第2の位置)に移動させるようにモータ1を制御する。図1の位置決めシステムはさらに、電源5及びエンコーダ2を備える。
実施の形態1では、消費電力量を低減するために、台形形状の速度プロファイルに従って位置決め制御を行ったが、本実施の形態では、これとは異なる速度プロファイルを用いる。実施の形態2に係るモータ制御装置を含む位置決めシステムの構成は、実施の形態1(図1)と同じであるが、指令値生成回路7によって実行される位置指令値生成処理が、実施の形態1とは異なる。
実施の形態1、2では、位置決め制御を行うときの消費電力量を定量的に計算し、これが低減されることを示すことにより、その効果を説明した。本実施の形態では、これとは別の方法で効果を説明する。実施の形態3に係るモータ制御装置を含む位置決めシステムの構成は、実施の形態1(図1)と同じであるが、指令値生成回路7によって実行される位置指令値生成処理が、実施の形態1とは異なる。
実施の形態1~3では、加速度プロファイルの形状が加速時と減速時とで対称である場合(従って、速度プロファイルの形状も加速時と減速時とで対称である場合)について述べたが、本発明の実施の形態はこれに限られるものではなく、加速度プロファイルの形状が加速時と減速時とで非対称であってもよい。本実施の形態4では、このような加速度プロファイルを用いる場合について説明する。
Claims (17)
- モータに接続された機械的負荷を第1の位置から第2の位置に移動させるように上記モータを制御するモータ制御装置において、上記モータ制御装置は、
各瞬間における上記機械的負荷の所望位置を表す位置指令値を生成する指令値生成回路と、
上記位置指令値に従って上記機械的負荷を移動させるように上記モータを制御するモータ駆動回路とを備え、
上記指令値生成回路は、
上記機械的負荷を上記第1の位置において停止した状態からピーク速度まで加速し、上記ピーク速度から減速して上記第2の位置において停止させるように、かつ、上記機械的負荷の加速及び減速を行う際の加速度の絶対値が所定の上限加速度Amax以下であるように、かつ、上記機械的負荷の加速を開始してから所定時間にわたって所定の上限加速度Amaxを維持し、その後に上記上限加速度Amaxから漸減するように、上記機械的負荷の時間的な加速度変化を表す加速度プロファイルA(t)を決定し、
上記加速度プロファイルA(t)に従って、上記機械的負荷の時間的な速度変化を表す速度プロファイルを決定し、
上記速度プロファイルに従って上記位置指令値を生成することを特徴とするモータ制御装置。 - 上記指令値生成回路は、上記第1の位置から上記第2の位置までの移動距離Dと、上記上限加速度Amaxとに基づいて計算された最短移動時間T0よりも長い所定の移動時間Tが与えられたとき、上記機械的負荷を上記第1の位置から上記第2の位置に上記移動時間Tで移動させるように、かつ、上記速度プロファイルが上記移動時間Tにわたって連続になるように上記加速度プロファイルA(t)を決定することを特徴とする請求項1記載のモータ制御装置。
- 上記最短移動時間T0は、T0=2×√(D/Amax)であることを特徴とする請求項2記載のモータ制御装置。
- 上記加速度プロファイルA(t)は、
上記機械的負荷を正の第1の加速度で加速する第1の等加速度時間と、
上記機械的負荷に与える加速度を上記第1の加速度から負の第2の加速度まで低下させる加速度低減時間と、
上記機械的負荷を上記第2の加速度で減速する第2の等加速度時間とからなり、
上記第1の加速度は上記上限加速度Amaxであることを特徴とする請求項3記載のモータ制御装置。 - 上記移動時間Tが、T0<T<√(3/2)×T0を満たすとき、上記加速度プロファイルA(t)において、
上記第2の加速度の絶対値は上記上限加速度Amaxであり、
上記加速度低減時間では、上記機械的負荷に与える加速度をAmaxから-Amaxまで時間の一次関数として連続的に低下させることを特徴とする請求項4記載のモータ制御装置。 - 上記第2の加速度の絶対値は上記上限加速度Amaxであり、
上記加速度低減時間では、上記機械的負荷に与える加速度をAmaxから-Amaxまで連続的に低下させることを特徴とする請求項4記載のモータ制御装置。 - 上記第2の加速度の絶対値は上記上限加速度Amaxであり、
上記加速度低減時間では、上記機械的負荷に与える加速度をAmaxから-Amaxまで段階的に低下させることを特徴とする請求項4記載のモータ制御装置。 - モータに接続された機械的負荷を第1の位置から第2の位置に移動させるように上記モータを制御するモータ制御装置において、上記モータ制御装置は、
各瞬間における上記機械的負荷の所望位置を表す位置指令値を生成する指令値生成回路と、
上記位置指令値に従って上記機械的負荷を移動させるように上記モータを制御するモータ駆動回路とを備え、
上記指令値生成回路は、上記第1の位置から上記第2の位置までの移動距離Dと、所定の上限加速度Amaxとに基づく、最短移動時間T0=2×√(D/Amax)の√(3/2)倍よりも長い所定の移動時間Tが与えられたとき、
上記上限加速度Amaxより小さい所定のピーク加速度Apを決定し、
上記機械的負荷を上記第1の位置において停止した状態から上記ピーク加速度Apで加速し始め、上記機械的負荷に与える加速度をApから-Apまで時間の一次関数として連続的に低下させ、最終的に上記ピーク加速度Apで減速して上記第2の位置において停止させるように、かつ、上記機械的負荷を上記第1の位置から上記第2の位置に上記移動時間Tで移動させるように、上記機械的負荷の時間的な加速度変化を表す加速度プロファイルA(t)を決定し、
上記加速度プロファイルA(t)に従って、上記機械的負荷の時間的な速度変化を表す速度プロファイルを決定し、
上記速度プロファイルに従って上記位置指令値を生成することを特徴とするモータ制御装置。 - モータに接続された機械的負荷を第1の位置から第2の位置に移動させるように上記モータを制御するモータ制御装置において、上記モータ制御装置は、
各瞬間における上記機械的負荷の所望位置を表す位置指令値を生成する指令値生成回路と、
上記位置指令値に従って上記機械的負荷を移動させるように上記モータを制御するモータ駆動回路とを備え、
上記指令値生成回路は、上記第1の位置から上記第2の位置までの移動距離Dと、所定の上限加速度Amaxとに基づいて計算された最短移動時間T0よりも長い所定の移動時間Tが与えられたとき、
上記機械的負荷を上記第1の位置において停止した状態からピーク速度Vpまで加速し、上記ピーク速度Vpから減速して上記第2の位置において停止させるように、かつ、上記機械的負荷の加速及び減速を行う際の加速度の絶対値が上記上限加速度Amax以下であるように、かつ、上記機械的負荷を上記第1の位置から上記第2の位置に上記移動時間Tで移動させるように、上記機械的負荷の時間的な加速度変化を表す加速度プロファイルA(t)を決定し、
上記加速度プロファイルA(t)に従って、上記機械的負荷の時間的な速度変化を表す速度プロファイルを決定し、
上記速度プロファイルに従って上記位置指令値を生成し、
上記加速度プロファイルA(t)は、
上記機械的負荷を上記第1の位置において停止した状態から上記ピーク速度Vpまで正の第1の加速度で加速する加速時間と、
上記機械的負荷を上記ピーク速度Vpで移動させる等速時間と、
上記機械的負荷を上記ピーク速度Vpから負の第2の加速度で減速して上記第2の位置において停止させる減速時間とからなり、
上記第1の加速度は上記上限加速度Amaxであることを特徴とするモータ制御装置。 - 上記最短移動時間T0は、T0=2×√(D/Amax)であることを特徴とする請求項12記載のモータ制御装置。
- 上記第2の加速度の絶対値は上記上限加速度Amaxであることを特徴とする請求項13記載のモータ制御装置。
- 上記指令値生成回路は、さらに、
上記移動距離D及び上記上限加速度Amaxに基づいて上記最短移動時間T0を計算し、
上記最短移動時間T0よりも長い所定長さの上記移動時間Tを決定することを特徴とする請求項2~15のいずれかに記載のモータ制御装置。 - 上記モータが回生状態になったときに回生電力を消費させる抵抗を備えることを特徴とする請求項1~16のいずれかに記載のモータ制御装置。
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JP (1) | JP5840288B2 (ja) |
KR (1) | KR101634474B1 (ja) |
CN (1) | CN104160617B (ja) |
DE (1) | DE112013001229B4 (ja) |
TW (1) | TWI486732B (ja) |
WO (1) | WO2013129294A1 (ja) |
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Also Published As
Publication number | Publication date |
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US9423777B2 (en) | 2016-08-23 |
US20150061564A1 (en) | 2015-03-05 |
JP5840288B2 (ja) | 2016-01-06 |
CN104160617A (zh) | 2014-11-19 |
TWI486732B (zh) | 2015-06-01 |
TW201346475A (zh) | 2013-11-16 |
DE112013001229B4 (de) | 2019-05-09 |
KR101634474B1 (ko) | 2016-06-28 |
KR20140127839A (ko) | 2014-11-04 |
JPWO2013129294A1 (ja) | 2015-07-30 |
DE112013001229T5 (de) | 2015-01-22 |
CN104160617B (zh) | 2016-12-14 |
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