MOTOR CONTROL APPARATUS

摘要

[Problem] To enhance a speed loop gain even in a three-inertia mechanical resonance system. [Solution] A motor control apparatus (100) for controlling a motor, includes: a speed estimator (6) configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to a motor model (4); a first feedback gain (Kd1) configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit (2) configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain (Kd1); and a stabilizing compensator (9) configured to obtain the first differential speed in parallel with the first feedback gain (Kd1), to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain (Kd1).

主权项

1. A motor control apparatus for controlling a motor, comprising:
a speed estimator configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to the motor; a first feedback gain configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain; and a stabilizing compensator configured to obtain the first differential speed in parallel with the first feedback gain, to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain.