WO2019176338A1 - Motor drive device - Google Patents

Motor drive device Download PDF

Info

Publication number
WO2019176338A1
WO2019176338A1 PCT/JP2019/002745 JP2019002745W WO2019176338A1 WO 2019176338 A1 WO2019176338 A1 WO 2019176338A1 JP 2019002745 W JP2019002745 W JP 2019002745W WO 2019176338 A1 WO2019176338 A1 WO 2019176338A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
oscillation
motor
time
control unit
Prior art date
Application number
PCT/JP2019/002745
Other languages
French (fr)
Japanese (ja)
Inventor
康友 川西
守 恵木
Original Assignee
オムロン株式会社
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 オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2019176338A1 publication Critical patent/WO2019176338A1/en

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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

Definitions

  • the present invention relates to a motor drive device.
  • the present invention has been made in view of the above problems, and provides a motor drive device that can satisfactorily detect whether or not the motor is oscillating regardless of the control content performed on the motor. With the goal.
  • a motor driving device includes a motor control unit that drives the motor by supplying a driving current to the motor, and the current value of the driving current is within a unit time.
  • An oscillation detection unit that counts the number of times that exceeds the oscillation amplitude threshold value and determines that oscillation is detected when the count result is equal to or greater than the oscillation frequency threshold value, and a parameter value set in the motor control unit
  • a setting unit configured to calculate a time to be used as the unit time based on the time and set the calculated time in the oscillation detection unit as the unit time.
  • the motor drive device calculates an appropriate unit time from the parameter values set in the motor control unit, and reads: “The current value of the drive current sets the oscillation amplitude threshold value within the unit time. The number of times of exceeding is counted, and when the count result of the number of times is equal to or greater than the oscillation frequency threshold, the oscillation detection unit is configured to output an oscillation detection signal indicating that oscillation has been detected. Therefore, according to this motor control device, whether or not the motor is oscillating can be satisfactorily detected regardless of the content of control performed on the motor.
  • the setting unit of the motor driving device calculates a time to be used as the unit time based on the setting value of the motor control unit for any of the position proportional gain, the speed proportional gain, and the cutoff frequency of the torque command low pass filter.
  • the calculated time may be set in the oscillation detection unit as the unit time.
  • a threshold value changing unit that changes at least one of the oscillation frequency threshold value and the oscillation amplitude threshold value to a value according to the operating state of the motor control unit may be added to the motor driving device.
  • the “operation state of the motor control unit” in the threshold value changing unit the control mode of the motor control unit and the presence / absence of command input to the motor control unit can be employed.
  • FIG. 1 is an explanatory diagram of the configuration and usage of the motor drive device according to the first embodiment of the present invention.
  • FIG. 2 is a functional block diagram of an oscillation detection unit in the motor drive device according to the first embodiment.
  • FIG. 3A is an explanatory diagram of the operation of the oscillation detection unit when the unit time is not appropriate.
  • FIG. 3B is an explanatory diagram of the operation of the oscillation detection unit when the oscillation frequency threshold value / position proportional gain is used as a unit time.
  • FIG. 4 is a flowchart of the oscillation detection process executed by the oscillation detection unit in the motor drive device according to the first embodiment.
  • FIG. 5 is a functional block diagram of an oscillation detection unit in the motor drive device according to the second embodiment.
  • FIG. 6 is a flowchart (No. 1) of the second oscillation detection process executed by the oscillation detection unit in the motor drive device according to the second embodiment.
  • FIG. 7 is a flowchart (part 2) of the second oscillation detection process executed by the oscillation detection unit in the motor drive device according to the second embodiment.
  • FIG. 1 shows a schematic configuration and a usage pattern of the motor drive device 20 according to the first embodiment of the present invention.
  • the motor drive device 20 according to the present embodiment is a device for driving a motor 41 and includes a motor drive circuit 22 and a control unit 23.
  • the motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23.
  • the control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and its peripheral elements.
  • the control unit 23 is configured (programmed) so as to function as the motor control unit 25 and the oscillation detection unit 26.
  • the motor control unit 25 performs motor 41 (motor drive) in various control modes (position control mode, speed control mode, torque control mode) in accordance with a command input from an external device such as a PLC or a command generated in the motor drive device. It is a unit (functional block) that controls the circuit 22).
  • the motor control unit 25 controls the motor 41 (motor drive circuit 22) using the detection result of the position of the motor 41 by the position detector 43.
  • the oscillation detection unit 26 is a unit for detecting whether vibration is generated in the motor 41.
  • FIG. 2 shows a functional block diagram of the oscillation detection unit 26.
  • the oscillation detection unit 26 includes a timer 31, an oscillation number counting unit 32, an oscillation determination unit 33, and a setting unit 34.
  • Timer 31 is a unit for counting elapsed time.
  • the oscillation number counting unit 32 is based on the motor drive current value, the unit time calculated and set by the setting unit 34 (details will be described later), a preset oscillation amplitude threshold, and the measurement time by the timer 31. This unit counts the number of times that the drive current value exceeds the oscillation amplitude threshold within a unit time.
  • the motor drive current value is a current value of the motor drive current that is periodically measured by the motor control unit 25.
  • the oscillation number counting unit 32 counts the number of times that the motor drive current value exceeds either the positive oscillation amplitude threshold value or the negative oscillation amplitude threshold value, and the motor drive current value is positive or negative oscillation. Only the number of times exceeding the amplitude threshold may be counted.
  • the oscillation determination unit 33 outputs an oscillation detection signal indicating that the motor 41 is oscillating when the counting result of the number of times by the oscillation number counting unit 32 is equal to or greater than a predetermined oscillation frequency threshold.
  • the setting unit 34 is a unit that calculates a multiplication result of the reciprocal of the gain setting Gref of the motor control unit 25 and the oscillation frequency threshold value and causes the oscillation frequency counting unit 32 to use the calculation result as a unit time.
  • the gain setting Gref of the motor control unit 25 it is preferable to employ any of a position proportional gain, a speed proportional gain, and a cutoff frequency of the torque command low pass filter.
  • the oscillation detection unit 26 basically counts the number of times that the motor drive current value exceeds the oscillation amplitude threshold within a unit time, and the count result of the number is equal to or greater than the oscillation frequency threshold. In this case, the unit determines that oscillation has been detected. However, the oscillation detection unit 26 has a function of changing the unit time to a multiplication result of the reciprocal of the gain setting Gref and the oscillation frequency threshold.
  • the multiplication result of the reciprocal of the gain setting Gref and the oscillation frequency threshold is a value suitable for use as a unit time.
  • the oscillation detection unit 26 (oscillation determination unit 33) cannot detect oscillation.
  • the unit time is the result of multiplying the reciprocal of the position proportional gain and the oscillation frequency threshold (in this case, 0.8 [sec])
  • the oscillation frequency count value changes as shown in FIG. 3B. Therefore, oscillation can be detected appropriately.
  • oscillation detection processing processing performed by each unit of the oscillation detection unit 26.
  • FIG. 4 shows a flowchart of the oscillation detection process.
  • the oscillation detection unit 26 that has started this oscillation detection process first grasps the current gain setting of the motor control unit 25 (step S101). Next, the oscillation detection unit 26 determines whether or not the gain setting is the same as the gain setting grasped last time (step S102). If the gain setting has not changed (step S102; YES), the oscillation detection unit 26 calculates a unit time from the current gain setting (step S104). If the gain setting has not changed (step S102; YES), the same unit time as that calculated last time is calculated in the process of step S104.
  • step S102 If the gain setting has changed (step S102; NO), the oscillation detection unit 26 resets the oscillation count value and the timer to “0” (step S103), and then calculates the unit time from the current gain setting. (Step S104). That is, when the gain setting has been changed (step S102; NO), the unit time is changed (step S104). Therefore, the oscillation count value and the timer are reset to “0” so that the oscillation count is counted from the beginning in the unit time after the change (step S103).
  • the oscillation detection unit 26 After completing the process in step S104, the oscillation detection unit 26 counts up the timer (step S105). Thereafter, the oscillation detection unit 26 determines whether the motor drive current value (current value in FIG. 4) has not exceeded the oscillation amplitude threshold value last time, and this time the motor drive current value has exceeded the oscillation amplitude threshold value. (Step S106).
  • the oscillation detection threshold for example, two oscillation amplitude thresholds such as a positive threshold and a negative threshold can be taken. In that case, the process of step S106 is performed with each threshold value or a combination of the threshold values.
  • step S106 the oscillation detection unit 26 performs step. The processing after S101 is started again.
  • step S106 determines the number of oscillations. After counting up the count value (step S107), it is determined whether or not the time measured by the timer exceeds the unit time (step S108).
  • the oscillation detection unit 26 returns to step S101 when the time measured by the timer does not exceed the unit time (step S108; NO). In addition, when the measurement time exceeds the unit time (step S108; YES), the oscillation detection unit 26 determines whether or not the oscillation count value is equal to or greater than the oscillation count threshold (step S109).
  • step S109 When the oscillation frequency count value is not equal to or greater than the oscillation frequency threshold value (step S109; NO), the oscillation detection unit 26 resets the oscillation frequency count value and the timer to “0” (step S110), and then proceeds to step S101. Return. In addition, when the oscillation count value is equal to or greater than the oscillation count threshold (step S109; YES), the oscillation detection unit 26 outputs a predetermined oscillation detection signal (step S111) and then performs this oscillation detection process. Exit.
  • the configuration and operation of the motor drive device 20 according to the second embodiment are the same as those used in the description of the motor drive device 20 of the first embodiment, with the motor drive device 20 of the first embodiment.
  • the description will focus on the different parts.
  • the Nth oscillation detector 26 is also expressed.
  • the second motor drive device 20 (the motor drive device 20 according to the second embodiment) is a device in which the first oscillation detection unit 26 of the first motor drive device 20 is replaced with the second oscillation detection unit 26.
  • FIG. 5 shows a functional block diagram of the second oscillation detection unit 26.
  • the second oscillation detection unit 26 has a configuration in which a change unit 35 is added to the first oscillation detection unit 26 (FIG. 2).
  • the changing unit 35 is a unit that changes the oscillation frequency threshold value and the oscillation amplitude threshold value depending on the control mode of the motor control unit 25 and the presence / absence of a command input to the motor control unit 25.
  • FIG. 6 and 7 are flowcharts of the second oscillation detection process performed by each unit of the second oscillation detection unit 26.
  • FIG. 6 and 7 are flowcharts of the second oscillation detection process performed by each unit of the second oscillation detection unit 26.
  • steps S211 to S220 of the second oscillation detection process are the same as the processes of steps S102 to S111 of the oscillation detection process (FIG. 4), respectively.
  • step S201 of the second oscillation detection process the current gain setting of the motor control unit 25 is grasped as in step S101 of the oscillation detection process (FIG. 4).
  • step S201 the current control mode of the motor control unit 25 is also grasped.
  • the presence / absence of a command input to the motor control unit 25 is also grasped (determined).
  • the changing unit 35 is a unit in charge of the processing of steps S202 to S207 of the second oscillation detection processing.
  • the second oscillation detection unit 26 starts the operation as the changing unit 35 after the process of step S201. Then, the second oscillation detection unit 26 that has started the operation as the changing unit 35 determines whether or not the control mode of the motor control unit 25 is the same as the control mode grasped last time (step S202).
  • step S202 When the control mode is changed (step S202; NO), the oscillation detection unit 26 resets the oscillation count value and the timer to “0” (step S203). Then, the oscillation detection unit 26 changes the values of the oscillation frequency threshold value and the oscillation amplitude threshold value to values prepared for the current control mode (step S204), and whether or not a command is input is the same as the previous time. It is determined whether or not (step S205).
  • step S202 when the control mode has not changed (step S202; YES), the oscillation detection unit 26 performs the determination in step S205 without performing the processes in steps S203 and S204.
  • step S205 When the presence / absence of the command input is the same as the previous time (step S205; YES), the oscillation detection unit 26 starts the processing after step S211.
  • step S205; NO when the presence / absence of the command input is not the same as the previous time (step S205; NO), that is, when the command input is resumed or the command input is stopped, the oscillation detection unit 26 counts the number of oscillations. The count value and the timer are reset to “0” (step S206). Then, the oscillation detection unit 26 changes the values of the oscillation frequency threshold value and the oscillation amplitude threshold value to values prepared for each situation (no command input, command input) (step S207), and then the step The processing after S211 is started.
  • the motor drive device 20 sets the oscillation frequency threshold value and the oscillation amplitude threshold value to the operation state (control mode, It has a function of changing to a value according to whether or not a command is input to the motor control unit 25.
  • the appropriate values of the oscillation frequency threshold value and the oscillation amplitude threshold value vary depending on the operation state of the motor control unit 25. Therefore, according to the motor drive device 20 according to the present embodiment, the motor according to the first embodiment described above. It becomes possible to detect the oscillation of the motor 41 better than the drive device 20.
  • the motor driving device 20 can perform various modifications.
  • the function of executing the processes of steps S202 to S204 and the function of executing the processes of steps S205 to S206 may be removed from the motor drive device 20 according to the second embodiment.
  • the motor drive device 20 according to the second embodiment may be modified to a device that changes only one of the oscillation frequency threshold value and the oscillation amplitude threshold value.
  • An oscillation detector (32, 32) that counts the number of times the current value of the drive current exceeds the oscillation amplitude threshold value within a unit time and determines that oscillation has been detected when the count result is equal to or greater than the oscillation frequency threshold 33)
  • a setting unit (34) for calculating a time to be used as the unit time based on a parameter value set in the motor control unit, and setting the calculated time in the oscillation detection unit as the unit time;
  • a motor drive device (20) comprising:

Landscapes

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

Abstract

This motor drive device is capable of favorably detecting whether a motor is oscillating without depending on the content of a control performed on the motor. The motor drive device is provided with: a motor control unit that drives a motor by providing a driving current to the motor; an oscillation detection unit that counts the frequency at which a current value of the driving current exceeds an oscillation amplitude threshold within a unit of time, and determines that oscillation has been detected when the result of the counting of the frequency is equal to or greater than the oscillation frequency threshold; and a setting unit that calculates the time to be used as the unit of time on the basis of the value of a parameter set by the motor control unit, and sets the calculated time as the unit of time in the oscillation detection unit.

Description

モータ駆動装置Motor drive device
　本発明は、モータ駆動装置に関する。 The present invention relates to a motor drive device.
　モータ駆動装置により駆動されているモータが発振しているか否かを判定する技術として、モータ駆動電流の電流値が単位時間内に発振振幅閾値を超える回数をカウントし、当該回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したと判定する技術（例えば、特許文献１参照）が知られている。 As a technology for determining whether or not the motor driven by the motor drive device is oscillating, the number of times that the current value of the motor drive current exceeds the oscillation amplitude threshold value within a unit time is counted, and the count result of that number oscillates. A technique (for example, refer to Patent Document 1) that determines that oscillation is detected when the number of times is equal to or greater than the threshold value is known.
特開平３－２８４１８０号公報JP-A-3-284180
　上記技術は、単位時間が適切に設定されていないと、検出したい周波数の発振を検出できない場合や、モータの意図した動作が発振として誤認定される場合があるものとなっている。さらに、適切な単位時間は、モータに対して行われている制御内容によって変化するため、上記技術で、各種の制御が行われ得るモータの発振を検出することは困難であった。 In the above technology, if the unit time is not set appropriately, oscillation of the frequency to be detected cannot be detected, or the intended operation of the motor may be erroneously recognized as oscillation. Furthermore, since the appropriate unit time varies depending on the control content being performed on the motor, it has been difficult to detect the oscillation of the motor in which various types of control can be performed with the above technique.
　本発明は、上記問題に鑑みてなされたものであり、モータが発振しているか否かを、モータに対して行われている制御内容に依らず、良好に検出できるモータ駆動装置を提供することを目的とする。 The present invention has been made in view of the above problems, and provides a motor drive device that can satisfactorily detect whether or not the motor is oscillating regardless of the control content performed on the motor. With the goal.
　上記目的を達成するために、本発明の一観点に係るモータ駆動装置は、モータに駆動電流を供給することで前記モータを駆動するモータ制御部と、前記駆動電流の電流値が単位時間内に発振振幅閾値を超える回数をカウントし、前記回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したと判定する発振検出部と、前記モータ制御部に設定されているパラメータの値に基づき前記単位時間として使用されるべき時間を算出し、算出した時間を前記単位時間として前記発振検出部に設定する設定部と、を備える。 In order to achieve the above object, a motor driving device according to an aspect of the present invention includes a motor control unit that drives the motor by supplying a driving current to the motor, and the current value of the driving current is within a unit time. An oscillation detection unit that counts the number of times that exceeds the oscillation amplitude threshold value and determines that oscillation is detected when the count result is equal to or greater than the oscillation frequency threshold value, and a parameter value set in the motor control unit A setting unit configured to calculate a time to be used as the unit time based on the time and set the calculated time in the oscillation detection unit as the unit time.
　すなわち、本発明の上記観点に係るモータ駆動装置は、モータ制御部に設定されているパラメータの値から適切な単位時間を算出して『前記駆動電流の電流値が単位時間内に発振振幅閾値を超える回数をカウントし、前記回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したことを示す発振検出信号を出力する発振検出部』に設定する構成を有する。従って、このモータ制御装置によれば、モータが発振しているか否かを、モータに対して行われている制御内容に依らず、良好に検出することができる。 That is, the motor drive device according to the above aspect of the present invention calculates an appropriate unit time from the parameter values set in the motor control unit, and reads: “The current value of the drive current sets the oscillation amplitude threshold value within the unit time. The number of times of exceeding is counted, and when the count result of the number of times is equal to or greater than the oscillation frequency threshold, the oscillation detection unit is configured to output an oscillation detection signal indicating that oscillation has been detected. Therefore, according to this motor control device, whether or not the motor is oscillating can be satisfactorily detected regardless of the content of control performed on the motor.
　モータ駆動装置の設定部は、位置比例ゲイン、速度比例ゲイン、トルク指令用ローパスフィルタの遮断周波数のいずれかについての前記モータ制御部の設定値に基づき前記単位時間として使用されるべき時間を算出し、算出した時間を前記単位時間として前記発振検出部に設定するものであっても良い。 The setting unit of the motor driving device calculates a time to be used as the unit time based on the setting value of the motor control unit for any of the position proportional gain, the speed proportional gain, and the cutoff frequency of the torque command low pass filter. The calculated time may be set in the oscillation detection unit as the unit time.
　モータ駆動装置に、前記発振回数閾値及び前記発振振幅閾値の少なくとも一方の値を、前記モータ制御部の動作状態に応じた値に変更する閾値変更部を付加しておいても良い。なお、この閾値変更部における“モータ制御部の動作状態”としては、モータ制御部の制御モードや、モータ制御部への指令の入力の有無を採用することが出来る。 A threshold value changing unit that changes at least one of the oscillation frequency threshold value and the oscillation amplitude threshold value to a value according to the operating state of the motor control unit may be added to the motor driving device. As the “operation state of the motor control unit” in the threshold value changing unit, the control mode of the motor control unit and the presence / absence of command input to the motor control unit can be employed.
　本発明によれば、モータが発振しているか否かを、モータに対して行われている制御内容に依らず、良好に検出できるモータ駆動装置を提供することが出来る。 According to the present invention, it is possible to provide a motor drive device that can detect satisfactorily whether or not the motor is oscillating regardless of the control content performed on the motor.
図１は、本発明の第１実施形態に係るモータ駆動装置の構成及び使用形態の説明図である。FIG. 1 is an explanatory diagram of the configuration and usage of the motor drive device according to the first embodiment of the present invention. 図２は、第１実施形態に係るモータ駆動装置内の発振検出部の機能ブロック図である。FIG. 2 is a functional block diagram of an oscillation detection unit in the motor drive device according to the first embodiment. 図３Ａは、単位時間が適切ではない場合における発振検出部の動作の説明図である。FIG. 3A is an explanatory diagram of the operation of the oscillation detection unit when the unit time is not appropriate. 図３Ｂは、発振回数閾値／位置比例ゲインが単位時間として使用されている場合における発振検出部の動作の説明図である。FIG. 3B is an explanatory diagram of the operation of the oscillation detection unit when the oscillation frequency threshold value / position proportional gain is used as a unit time. 図４は、第１実施形態に係るモータ駆動装置内の発振検出部が実行する発振検出処理の流れ図である。FIG. 4 is a flowchart of the oscillation detection process executed by the oscillation detection unit in the motor drive device according to the first embodiment. 図５は、第２実施形態に係るモータ駆動装置内の発振検出部の機能ブロック図である。FIG. 5 is a functional block diagram of an oscillation detection unit in the motor drive device according to the second embodiment. 図６は、第２実施形態に係るモータ駆動装置内の発振検出部が実行する第２発振検出処理の流れ図（その１）である。FIG. 6 is a flowchart (No. 1) of the second oscillation detection process executed by the oscillation detection unit in the motor drive device according to the second embodiment. 図７は、第２実施形態に係るモータ駆動装置内の発振検出部が実行する第２発振検出処理の流れ図（その２）である。FIG. 7 is a flowchart (part 2) of the second oscillation detection process executed by the oscillation detection unit in the motor drive device according to the second embodiment.
　以下、図面に基づいて、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　《第１実施形態》
　図１に、本発明の第１実施形態に係るモータ駆動装置２０の概略構成及び使用形態を示す。本実施形態に係るモータ駆動装置２０は、モータ４１を駆動するための装置であり、モータ駆動回路２２と制御部２３とを備える。 << First Embodiment >>
FIG. 1 shows a schematic configuration and a usage pattern of the motor drive device 20 according to the first embodiment of the present invention. The motor drive device 20 according to the present embodiment is a device for driving a motor 41 and includes a motor drive circuit 22 and a control unit 23.
　モータ駆動回路２２は、制御部２３の制御下、モータ４１に駆動電流を供給する回路である。 The motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23.
　制御部２３は、プロセッサ（マイクロコントローラ、ＣＰＵ等）とその周辺素子から構成されたユニットである。この制御部２３は、モータ制御部２５と発振検出部２６として機能するように構成（プログラミング）されている。 The control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and its peripheral elements. The control unit 23 is configured (programmed) so as to function as the motor control unit 25 and the oscillation detection unit 26.
　モータ制御部２５は、ＰＬＣ等の外部装置から入力される指令、またはモータ駆動装置内で生成する指令に従って、各種制御モード（位置制御モード、速度制御モード、トルク制御モード）でモータ４１（モータ駆動回路２２）を制御するユニット（機能ブロック）である。このモータ制御部２５は、位置検出器４３によるモータ４１の位置の検出結果を用いて、モータ４１（モータ駆動回路２２）を制御する。 The motor control unit 25 performs motor 41 (motor drive) in various control modes (position control mode, speed control mode, torque control mode) in accordance with a command input from an external device such as a PLC or a command generated in the motor drive device. It is a unit (functional block) that controls the circuit 22). The motor control unit 25 controls the motor 41 (motor drive circuit 22) using the detection result of the position of the motor 41 by the position detector 43.
　発振検出部２６は、モータ４１に振動が発生しているか否かを検出するためのユニットである。 The oscillation detection unit 26 is a unit for detecting whether vibration is generated in the motor 41.
　以下、発振検出部２６について具体的に説明する。
　図２に、発振検出部２６の機能ブロック図を示す。 Hereinafter, the oscillation detection unit 26 will be specifically described.
FIG. 2 shows a functional block diagram of the oscillation detection unit 26.
　図示してあるように、発振検出部２６は、タイマー３１、発振回数計数部３２、発振判断部３３及び設定部３４を備える。 As illustrated, the oscillation detection unit 26 includes a timer 31, an oscillation number counting unit 32, an oscillation determination unit 33, and a setting unit 34.
　タイマー３１は、経過時間を計数するためのユニットである。発振回数計数部３２は、モータ駆動電流値と、設定部３４（詳細は後述）が算出・設定する単位時間と、予め設定されている発振振幅閾値と、タイマー３１による計測時間とに基づき、モータ駆動電流値が単位時間内に発振振幅閾値を超える回数を計数するユニットである。なお、モータ駆動電流値とは、モータ制御部２５によって周期的に測定されているモータ駆動電流の電流値のことである。 Timer 31 is a unit for counting elapsed time. The oscillation number counting unit 32 is based on the motor drive current value, the unit time calculated and set by the setting unit 34 (details will be described later), a preset oscillation amplitude threshold, and the measurement time by the timer 31. This unit counts the number of times that the drive current value exceeds the oscillation amplitude threshold within a unit time. The motor drive current value is a current value of the motor drive current that is periodically measured by the motor control unit 25.
　発振回数計数部３２は、モータ駆動電流値が、正の発振振幅閾値及び負の発振振幅閾値のいずれかを超える回数を計数するものであっても、モータ駆動電流値が、正又は負の発振振幅閾値を超える回数だけを計数するものであっても良い。 The oscillation number counting unit 32 counts the number of times that the motor drive current value exceeds either the positive oscillation amplitude threshold value or the negative oscillation amplitude threshold value, and the motor drive current value is positive or negative oscillation. Only the number of times exceeding the amplitude threshold may be counted.
　発振判断部３３は、発振回数計数部３２による上記回数の計数結果が、予め定められている発振回数閾値以上となったときに、モータ４１が発振していることを示す発振検出信号を出力するユニットである。設定部３４は、モータ制御部２５のゲイン設定Ｇｒｅｆの逆数と発振回数閾値との乗算結果を算出し、算出結果を発振回数計数部３２に単位時間として使用させるユニットである。なお、モータ制御部２５のゲイン設定Ｇｒｅｆとしては、位置比例ゲイン、速度比例ゲイン、トルク指令用ローパスフィルタの遮断周波数のいずれかを採用しておくことが好ましい。 The oscillation determination unit 33 outputs an oscillation detection signal indicating that the motor 41 is oscillating when the counting result of the number of times by the oscillation number counting unit 32 is equal to or greater than a predetermined oscillation frequency threshold. Is a unit. The setting unit 34 is a unit that calculates a multiplication result of the reciprocal of the gain setting Gref of the motor control unit 25 and the oscillation frequency threshold value and causes the oscillation frequency counting unit 32 to use the calculation result as a unit time. As the gain setting Gref of the motor control unit 25, it is preferable to employ any of a position proportional gain, a speed proportional gain, and a cutoff frequency of the torque command low pass filter.
　以上の説明から明らかなように、発振検出部２６は、基本的には、モータ駆動電流値が単位時間内に発振振幅閾値を超える回数をカウントし、当該回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したと判定するユニットである。ただし、発振検出部２６は、単位時間を、ゲイン設定Ｇｒｅｆの逆数と発振回数閾値との乗算結果に変更する機能を有している。 As is apparent from the above description, the oscillation detection unit 26 basically counts the number of times that the motor drive current value exceeds the oscillation amplitude threshold within a unit time, and the count result of the number is equal to or greater than the oscillation frequency threshold. In this case, the unit determines that oscillation has been detected. However, the oscillation detection unit 26 has a function of changing the unit time to a multiplication result of the reciprocal of the gain setting Gref and the oscillation frequency threshold.
　そして、ゲイン設定Ｇｒｅｆの逆数と発振回数閾値との乗算結果は、単位時間としての使用に適した値となる。 The multiplication result of the reciprocal of the gain setting Gref and the oscillation frequency threshold is a value suitable for use as a unit time.
　具体的には、１［Ｈｚ］の動作指令に対する応答波形に１０［Ｈｚ］の発振が含まれている場合を考える。なお、位置比例ゲイン＝５［Ｈｚ］、発振振幅閾値＝５［％］、発振回数閾値＝４［回］であるとする。 More specifically, consider a case where 10 [Hz] oscillation is included in the response waveform to an operation command of 1 [Hz]. It is assumed that the position proportional gain = 5 [Hz], the oscillation amplitude threshold value = 5 [%], and the oscillation frequency threshold value = 4 [times].
　上記場合において、単位時間＝０．１［ｓｅｃ］であった場合には、図３Ａに示したように、発振回数カウント値が変化する。従って、発振検出部２６（発振判断部３３）は、発振を検出することが出来ない。一方、単位時間を、位置比例ゲインの逆数と発振回数閾値との乗算結果（この場合、０．８［ｓｅｃ］）とすれば、図３Ｂに示したように、発振回数カウント値が変化することになるため、適切に発振を検出することが出来る。 In the above case, when the unit time = 0.1 [sec], the oscillation count value changes as shown in FIG. 3A. Therefore, the oscillation detection unit 26 (oscillation determination unit 33) cannot detect oscillation. On the other hand, if the unit time is the result of multiplying the reciprocal of the position proportional gain and the oscillation frequency threshold (in this case, 0.8 [sec]), the oscillation frequency count value changes as shown in FIG. 3B. Therefore, oscillation can be detected appropriately.
　最後に、発振検出部２６の各部により行われる処理（以下、発振検出処理と表記する）の内容を、流れ図を用いて説明しておくことにする。 Finally, the contents of processing (hereinafter referred to as oscillation detection processing) performed by each unit of the oscillation detection unit 26 will be described using a flowchart.
　図４に、発振検出処理の流れ図を示す。
　図示してあるように、この発振検出処理を開始した発振検出部２６は、まず、モータ制御部２５の現在のゲイン設定を把握する（ステップＳ１０１）。次いで、発振検出部２６は、ゲイン設定が前回把握したゲイン設定と同じであるか否かを判断する（ステップＳ１０２）。そして、発振検出部２６は、ゲイン設定が変わっていなかった場合（ステップＳ１０２；ＹＥＳ）には、現ゲイン設定から単位時間を算出する（ステップＳ１０４）。なお、ゲイン設定が変わっていなかった場合（ステップＳ１０２；ＹＥＳ）、ステップＳ１０４の処理にて、前回算出されたものと同じ単位時間が算出されることになる。 FIG. 4 shows a flowchart of the oscillation detection process.
As shown in the figure, the oscillation detection unit 26 that has started this oscillation detection process first grasps the current gain setting of the motor control unit 25 (step S101). Next, the oscillation detection unit 26 determines whether or not the gain setting is the same as the gain setting grasped last time (step S102). If the gain setting has not changed (step S102; YES), the oscillation detection unit 26 calculates a unit time from the current gain setting (step S104). If the gain setting has not changed (step S102; YES), the same unit time as that calculated last time is calculated in the process of step S104.
　発振検出部２６は、ゲイン設定が変わっていた場合（ステップＳ１０２；ＮＯ）には、発振回数カウント値及びタイマーを“０”リセット（ステップＳ１０３）してから、現ゲイン設定から単位時間を算出する（ステップＳ１０４）。すなわち、ゲイン設定が変わっていた場合（ステップＳ１０２；ＮＯ）には、単位時間が変更される（ステップＳ１０４）。そのため、変更後の単位時間で発振回数がはじめからカウントされるようにするために、発振回数カウント値及びタイマーが“０”リセットされる（ステップＳ１０３）。 If the gain setting has changed (step S102; NO), the oscillation detection unit 26 resets the oscillation count value and the timer to “0” (step S103), and then calculates the unit time from the current gain setting. (Step S104). That is, when the gain setting has been changed (step S102; NO), the unit time is changed (step S104). Therefore, the oscillation count value and the timer are reset to “0” so that the oscillation count is counted from the beginning in the unit time after the change (step S103).
　ステップＳ１０４の処理を終えた発振検出部２６は、タイマーをカウントアップする（ステップＳ１０５）。その後、発振検出部２６は、前回にモータ駆動電流値（図４では、電流値）が発振振幅閾値を超えておらず、且つ、今回にモータ駆動電流値が発振振幅閾値を超えているかを判断する（ステップＳ１０６）。この発振検出閾値は、例えば正の閾値と負の閾値というように２つの発振振幅閾値を取ることもできる。その場合は、それぞれの閾値で、または、その閾値の組み合わせでステップＳ１０６の処理を行う。そして、発振検出部２６は、前回にモータ駆動電流値が発振振幅閾値を超えている、または、今回にモータ駆動電流値が発振振幅閾値を超えていない場合（ステップＳ１０６；ＮＯ）には、ステップＳ１０１以降の処理を再び開始する。 After completing the process in step S104, the oscillation detection unit 26 counts up the timer (step S105). Thereafter, the oscillation detection unit 26 determines whether the motor drive current value (current value in FIG. 4) has not exceeded the oscillation amplitude threshold value last time, and this time the motor drive current value has exceeded the oscillation amplitude threshold value. (Step S106). As the oscillation detection threshold, for example, two oscillation amplitude thresholds such as a positive threshold and a negative threshold can be taken. In that case, the process of step S106 is performed with each threshold value or a combination of the threshold values. Then, if the motor drive current value has exceeded the oscillation amplitude threshold value last time or the motor drive current value has not exceeded the oscillation amplitude threshold value this time (step S106; NO), the oscillation detection unit 26 performs step. The processing after S101 is started again.
　一方、前回にモータ駆動電流値が発振振幅閾値を超えておらず、且つ、今回にモータ駆動電流値が発振振幅閾値を超えている場合（ステップＳ１０６；ＹＥＳ）、発振検出部２６は、発振回数カウント値をカウントアップ（ステップＳ１０７）してから、タイマーによる計測時間が単位時間を超えているか否かを判断する（ステップＳ１０８）。 On the other hand, if the motor drive current value has not exceeded the oscillation amplitude threshold value last time and the motor drive current value has exceeded the oscillation amplitude threshold value this time (step S106; YES), the oscillation detection unit 26 determines the number of oscillations. After counting up the count value (step S107), it is determined whether or not the time measured by the timer exceeds the unit time (step S108).
　発振検出部２６は、タイマーによる計測時間が単位時間を超えていなかった場合（ステップＳ１０８；ＮＯ）には、ステップＳ１０１に戻る。また、発振検出部２６は、計測時間が単位時間を超えていた場合（ステップＳ１０８；ＹＥＳ）には、発振回数カウント値が発振回数閾値以上となっているか否かを判断する（ステップＳ１０９）。 The oscillation detection unit 26 returns to step S101 when the time measured by the timer does not exceed the unit time (step S108; NO). In addition, when the measurement time exceeds the unit time (step S108; YES), the oscillation detection unit 26 determines whether or not the oscillation count value is equal to or greater than the oscillation count threshold (step S109).
　発振回数カウント値が発振回数閾値以上となっていなかった場合（ステップＳ１０９；ＮＯ）、発振検出部２６は、発振回数カウント値及びタイマーを“０”リセット（ステップＳ１１０）してから、ステップＳ１０１に戻る。また、発振検出部２６は、発振回数カウント値が発振回数閾値以上となっていた場合（ステップＳ１０９；ＹＥＳ）には、所定の発振検出信号を出力（ステップＳ１１１）してから、この発振検出処理を終了する。 When the oscillation frequency count value is not equal to or greater than the oscillation frequency threshold value (step S109; NO), the oscillation detection unit 26 resets the oscillation frequency count value and the timer to “0” (step S110), and then proceeds to step S101. Return. In addition, when the oscillation count value is equal to or greater than the oscillation count threshold (step S109; YES), the oscillation detection unit 26 outputs a predetermined oscillation detection signal (step S111) and then performs this oscillation detection process. Exit.
　《第２実施形態》
　以下、第１実施形態のモータ駆動装置２０の説明時に用いたものと同じ符号を用いて、第２実施形態に係るモータ駆動装置２０の構成及び動作を、第１実施形態のモータ駆動装置２０と異なる部分を中心に説明する。なお、説明の便宜上、以下では、第Ｎ（Ｎ＝１，２）実施形態に係るモータ駆動装置２０、当該モータ駆動装置２０内の発振検出部２６のことを、それぞれ、第Ｎモータ駆動装置２０、第Ｎ発振検出部２６とも表記する。 << Second Embodiment >>
Hereinafter, the configuration and operation of the motor drive device 20 according to the second embodiment are the same as those used in the description of the motor drive device 20 of the first embodiment, with the motor drive device 20 of the first embodiment. The description will focus on the different parts. For convenience of explanation, hereinafter, the motor driving device 20 according to the Nth (N = 1, 2) embodiment and the oscillation detection unit 26 in the motor driving device 20 are respectively referred to as the Nth motor driving device 20. The Nth oscillation detector 26 is also expressed.
　第２モータ駆動装置２０（第２実施形態に係るモータ駆動装置２０）は、第１モータ駆動装置２０の第１発振検出部２６を、第２発振検出部２６に置き換えた装置である。 The second motor drive device 20 (the motor drive device 20 according to the second embodiment) is a device in which the first oscillation detection unit 26 of the first motor drive device 20 is replaced with the second oscillation detection unit 26.
　図５に、第２発振検出部２６の機能ブロック図を示す。
　この図５と図２とを比較すれば明らかなように、第２発振検出部２６は、第１発振検出部２６（図２）に変更部３５を追加した構成を有している。 FIG. 5 shows a functional block diagram of the second oscillation detection unit 26.
As apparent from a comparison between FIG. 5 and FIG. 2, the second oscillation detection unit 26 has a configuration in which a change unit 35 is added to the first oscillation detection unit 26 (FIG. 2).
　変更部３５は、モータ制御部２５の制御モードや、モータ制御部２５への指令の入力の有無により、発振回数閾値及び発振振幅閾値の値を変更するユニットである。 The changing unit 35 is a unit that changes the oscillation frequency threshold value and the oscillation amplitude threshold value depending on the control mode of the motor control unit 25 and the presence / absence of a command input to the motor control unit 25.
　以下、流れ図を用いて、変更部３５の機能を説明する。
　図６及び図７に、第２発振検出部２６の各部により行われる第２発振検出処理の流れ図を示す。 Hereinafter, the function of the changing unit 35 will be described with reference to a flowchart.
6 and 7 are flowcharts of the second oscillation detection process performed by each unit of the second oscillation detection unit 26. FIG.
　この第２発振検出処理のステップＳ２１１～Ｓ２２０の処理は、それぞれ、発振検出処理（図４）のステップＳ１０２～Ｓ１１１の処理と同じ処理である。第２発振検出処理のステップＳ２０１の処理では、発振検出処理（図４）のステップＳ１０１と同様に、モータ制御部２５の現在のゲイン設定が把握される。ただし、ステップＳ２０１の処理では、モータ制御部２５の現在の制御モードも把握される。また、モータ制御部２５への指令の入力の有無も把握（判定）される。 The processes of steps S211 to S220 of the second oscillation detection process are the same as the processes of steps S102 to S111 of the oscillation detection process (FIG. 4), respectively. In the process of step S201 of the second oscillation detection process, the current gain setting of the motor control unit 25 is grasped as in step S101 of the oscillation detection process (FIG. 4). However, in the process of step S201, the current control mode of the motor control unit 25 is also grasped. Further, the presence / absence of a command input to the motor control unit 25 is also grasped (determined).
　変更部３５は、第２発振検出処理のステップＳ２０２～Ｓ２０７の処理を担当するユニットである。 The changing unit 35 is a unit in charge of the processing of steps S202 to S207 of the second oscillation detection processing.
　すなわち、第２発振検出部２６は、ステップＳ２０１の処理後、変更部３５としての動作を開始する。そして、変更部３５としての動作を開始した第２発振検出部２６は、モータ制御部２５の制御モードが前回把握した制御モードと同じであるか否かを判断する（ステップＳ２０２）。 That is, the second oscillation detection unit 26 starts the operation as the changing unit 35 after the process of step S201. Then, the second oscillation detection unit 26 that has started the operation as the changing unit 35 determines whether or not the control mode of the motor control unit 25 is the same as the control mode grasped last time (step S202).
　発振検出部２６は、制御モードが変わっていた場合（ステップＳ２０２；ＮＯ）には、発振回数カウント値及びタイマーを“０”リセットする（ステップＳ２０３）。そして、発振検出部２６は、発振回数閾値及び発振振幅閾値の値を、現制御モード用のものとして用意されている値に変更（ステップＳ２０４）してから、指令の入力の有無が前回と同じであるか否かを判断する（ステップＳ２０５）。 When the control mode is changed (step S202; NO), the oscillation detection unit 26 resets the oscillation count value and the timer to “0” (step S203). Then, the oscillation detection unit 26 changes the values of the oscillation frequency threshold value and the oscillation amplitude threshold value to values prepared for the current control mode (step S204), and whether or not a command is input is the same as the previous time. It is determined whether or not (step S205).
　また、発振検出部２６は、制御モードが変わっていなかった場合（ステップＳ２０２；ＹＥＳ）には、ステップＳ２０３及びＳ２０４の処理を行うことなく、ステップＳ２０５の判断を行う。 In addition, when the control mode has not changed (step S202; YES), the oscillation detection unit 26 performs the determination in step S205 without performing the processes in steps S203 and S204.
　指令の入力の有無が前回と同じであった場合（ステップＳ２０５；ＹＥＳ）、発振検出部２６は、ステップＳ２１１以降の処理を開始する。一方、指令の入力の有無が前回と同じではなかった場合（ステップＳ２０５；ＮＯ）、すなわち、指令の入力が再開された場合や指令の入力が停止された場合、発振検出部２６は、発振回数カウント値及びタイマーを“０”リセットする（ステップＳ２０６）。そして、発振検出部２６は、発振回数閾値及び発振振幅閾値の値を、各状況（指令入力無し、指令入力有り）用のものとして用意されている値に変更（ステップＳ２０７）してから、ステップＳ２１１以降の処理を開始する。 When the presence / absence of the command input is the same as the previous time (step S205; YES), the oscillation detection unit 26 starts the processing after step S211. On the other hand, when the presence / absence of the command input is not the same as the previous time (step S205; NO), that is, when the command input is resumed or the command input is stopped, the oscillation detection unit 26 counts the number of oscillations. The count value and the timer are reset to “0” (step S206). Then, the oscillation detection unit 26 changes the values of the oscillation frequency threshold value and the oscillation amplitude threshold value to values prepared for each situation (no command input, command input) (step S207), and then the step The processing after S211 is started.
　以上、説明したように、本実施形態に係るモータ駆動装置２０は、単位時間を変更する機能に加えて、発振回数閾値及び発振振幅閾値の値を、モータ制御部２５の動作状態（制御モード、モータ制御部２５への指令入力の有無）に応じた値に変更する機能を有している。そして、発振回数閾値及び発振振幅閾値の適正値は、モータ制御部２５の動作状態によって変化するのであるから、本実施形態に係るモータ駆動装置２０によれば、上記した第１実施形態に係るモータ駆動装置２０よりも良好にモータ４１の発振を検出することが可能となる。 As described above, in addition to the function of changing the unit time, the motor drive device 20 according to the present embodiment sets the oscillation frequency threshold value and the oscillation amplitude threshold value to the operation state (control mode, It has a function of changing to a value according to whether or not a command is input to the motor control unit 25. The appropriate values of the oscillation frequency threshold value and the oscillation amplitude threshold value vary depending on the operation state of the motor control unit 25. Therefore, according to the motor drive device 20 according to the present embodiment, the motor according to the first embodiment described above. It becomes possible to detect the oscillation of the motor 41 better than the drive device 20.
　《変形形態》
　上記した各実施形態に係るモータ駆動装置２０は、各種の変形を行えるものである。例えば、第２実施形態に係るモータ駆動装置２０から、ステップＳ２０２～Ｓ２０４の処理を実行する機能や、ステップＳ２０５～Ｓ２０６の処理を実行する機能を取り除いておいても良い。第２実施形態に係るモータ駆動装置２０を、発振回数閾値及び発振振幅閾値の中のいずれか一方のみの値を変更する装置に変形しても良い。 <Deformation>
The motor driving device 20 according to each of the above-described embodiments can perform various modifications. For example, the function of executing the processes of steps S202 to S204 and the function of executing the processes of steps S205 to S206 may be removed from the motor drive device 20 according to the second embodiment. The motor drive device 20 according to the second embodiment may be modified to a device that changes only one of the oscillation frequency threshold value and the oscillation amplitude threshold value.
　《付記》
　モータ（４１）に駆動電流を供給することで前記モータ（４１）を駆動するモータ制御部（２５）と、
　前記駆動電流の電流値が単位時間内に発振振幅閾値を超える回数をカウントし、前記回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したと判定する発振検出部（３２，３３）と、
　前記モータ制御部に設定されているパラメータの値に基づき前記単位時間として使用されるべき時間を算出し、算出した時間を前記単位時間として前記発振検出部に設定する設定部（３４）と、
　を備えることを特徴とするモータ駆動装置（２０）。 《Appendix》
A motor controller (25) for driving the motor (41) by supplying a drive current to the motor (41);
An oscillation detector (32, 32) that counts the number of times the current value of the drive current exceeds the oscillation amplitude threshold value within a unit time and determines that oscillation has been detected when the count result is equal to or greater than the oscillation frequency threshold 33)
A setting unit (34) for calculating a time to be used as the unit time based on a parameter value set in the motor control unit, and setting the calculated time in the oscillation detection unit as the unit time;
A motor drive device (20) comprising:
　２０　モータ駆動装置
　２２　モータ駆動回路
　２３　制御部
　２５　モータ制御部
　２６　発振検出部
　３２　発振回数計数部
　３３　発振判断部
　３４　設定部
　３５　変更部
　４１　モータ
　４３　位置検出器 DESCRIPTION OF SYMBOLS 20 Motor drive device 22 Motor drive circuit 23 Control part 25 Motor control part 26 Oscillation detection part 32 Oscillation frequency count part 33 Oscillation judgment part 34 Setting part 35 Change part 41 Motor 43 Position detector

Claims (5)

  1. 　モータに駆動電流を供給することで前記モータを駆動するモータ制御部と、
    　前記駆動電流の電流値が単位時間内に発振振幅閾値を超える回数をカウントし、前記回数のカウント結果が発振回数閾値以上であった場合に、発振を検出したと判定する発振検出部と、
    　前記モータ制御部に設定されているパラメータの値に基づき前記単位時間として使用されるべき時間を算出し、算出した時間を前記単位時間として前記発振検出部に設定する設定部と、
    　を備えることを特徴とするモータ駆動装置。     A motor controller for driving the motor by supplying a driving current to the motor;
    An oscillation detection unit that counts the number of times the current value of the drive current exceeds an oscillation amplitude threshold within a unit time, and determines that oscillation is detected when the count result is equal to or greater than the oscillation frequency threshold;
    A setting unit that calculates a time to be used as the unit time based on a parameter value set in the motor control unit, and sets the calculated time in the oscillation detection unit as the unit time;
    A motor drive device comprising:
  2. 　前記設定部は、位置比例ゲイン、速度比例ゲイン、トルク指令用ローパスフィルタの遮断周波数のいずれかについての前記モータ制御部の設定値に基づき前記単位時間として使用されるべき時間を算出し、算出した時間を前記単位時間として前記発振検出部に設定する、
    　ことを特徴とする請求項１に記載のモータ駆動装置。     The setting unit calculates a time to be used as the unit time based on a setting value of the motor control unit for any one of a position proportional gain, a speed proportional gain, and a cutoff frequency of a torque command low pass filter, Set time in the oscillation detection unit as the unit time,
    The motor driving apparatus according to claim 1.
  3. 　前記発振回数閾値及び前記発振振幅閾値の少なくとも一方の値を、前記モータ制御部の動作状態に応じた値に変更する閾値変更部を、さらに備える、
    　ことを特徴とする請求項１又は２に記載のモータ駆動装置。     A threshold change unit that changes at least one of the oscillation frequency threshold and the oscillation amplitude threshold to a value according to an operation state of the motor control unit;
    The motor drive device according to claim 1 or 2, wherein
  4. 　前記モータ制御部は、前記モータを駆動するための複数の制御モードを有し、
    　前記モータ制御部の前記動作状態が、前記モータ制御部の制御モードである、
    　ことを特徴とする請求項３に記載のモータ駆動装置。     The motor control unit has a plurality of control modes for driving the motor,
    The operation state of the motor control unit is a control mode of the motor control unit;
    The motor driving device according to claim 3.
  5. 　前記モータ制御部の前記動作状態が、前記モータ制御部への指令の入力の有無である、
    　ことを特徴とする請求項３又は４に記載のモータ駆動装置。     The operation state of the motor control unit is the presence or absence of input of a command to the motor control unit,
    The motor drive device according to claim 3 or 4, wherein
PCT/JP2019/002745 2018-03-13 2019-01-28 Motor drive device WO2019176338A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-045321 2018-03-13
JP2018045321A JP7006398B2 (en) 2018-03-13 2018-03-13 Motor drive

Publications (1)

Publication Number Publication Date
WO2019176338A1 true WO2019176338A1 (en) 2019-09-19

Family

ID=67906625

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/002745 WO2019176338A1 (en) 2018-03-13 2019-01-28 Motor drive device

Country Status (2)

Country Link
JP (1) JP7006398B2 (en)
WO (1) WO2019176338A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113541541A (en) * 2020-04-22 2021-10-22 柯尼卡美能达株式会社 Control method and control system for image forming apparatus

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09200901A (en) * 1996-01-22 1997-07-31 Toyota Motor Corp Abnormality diagnostic device for drive system
JPH09247982A (en) * 1996-03-11 1997-09-19 Mitsubishi Electric Corp Controller of refrigerator with freezer
JP2001178188A (en) * 1999-12-21 2001-06-29 Japan Servo Co Ltd Device for detecting oscillations of servomotor and detecting method therefor
WO2009136639A1 (en) * 2008-05-09 2009-11-12 株式会社 明電舎 System stabilizing device
JP2014183651A (en) * 2013-03-19 2014-09-29 Panasonic Corp Motor driver

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09200901A (en) * 1996-01-22 1997-07-31 Toyota Motor Corp Abnormality diagnostic device for drive system
JPH09247982A (en) * 1996-03-11 1997-09-19 Mitsubishi Electric Corp Controller of refrigerator with freezer
JP2001178188A (en) * 1999-12-21 2001-06-29 Japan Servo Co Ltd Device for detecting oscillations of servomotor and detecting method therefor
WO2009136639A1 (en) * 2008-05-09 2009-11-12 株式会社 明電舎 System stabilizing device
JP2014183651A (en) * 2013-03-19 2014-09-29 Panasonic Corp Motor driver

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113541541A (en) * 2020-04-22 2021-10-22 柯尼卡美能达株式会社 Control method and control system for image forming apparatus
CN113541541B (en) * 2020-04-22 2023-12-05 柯尼卡美能达株式会社 Control method and control system for image forming apparatus

Also Published As

Publication number Publication date
JP2019161844A (en) 2019-09-19
JP7006398B2 (en) 2022-01-24

Similar Documents

Publication Publication Date Title
US11485000B2 (en) Adaptive impact blow detection
US10613240B2 (en) Seismic sensor and threshold adjusting method
US20200012003A1 (en) Seismic sensor and earthquake determination method
WO2019176338A1 (en) Motor drive device
EP3703250A1 (en) Servo driver and state change detecting method
CN108370152B (en) Overload detection in a power tool
JP2011063231A (en) Electronic control device for vehicle
JPWO2019003504A1 (en) Vibration sensor and earthquake judgment method
US20140225549A1 (en) Method and apparatus for limiting a power consumption of an electric motor in the event of overload in a handheld power tool
JP2023016889A (en) Touch sensor, control apparatus, and computer program
JP5674844B2 (en) Duty ratio detection circuit and method for PWM signal
KR20100062655A (en) Washing machine and method for sensing weight of laundry thereof
US11933644B2 (en) Touch detecting apparatus
US20230387839A1 (en) Rotation angle detecting method, recording medium storing rotation angle detecting program, and rotation angle detecting device
JP7200056B2 (en) Touch sensors, controllers, and computer programs
JP2018117467A5 (en)
JP2014053880A (en) Motor driving apparatus and operating method thereof
JP2006193050A (en) Controller and electric power steering device
JP2012125038A (en) Motor control device
JP3027090B2 (en) Induction heating device
JP6348860B2 (en) Vehicle control device
JP5569512B2 (en) Angle detector
JP2007166769A (en) Method and apparatus for driving and controlling brushless motor
JP2018038169A (en) Switching power supply device and control method of the same
JP2019076545A (en) Vacuum cleaner

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19766670

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19766670

Country of ref document: EP

Kind code of ref document: A1