Motor drive device

摘要

A motor drive device (2) of the present invention includes a command response setting unit (22), a position and speed controller (23), a load characteristic compensator (24), a servo adjuster (6), a command response setting function (221), a stiffness setting function (231), an evaluation indicator measuring function (27), and a storage (28). The servo adjuster (6) stores a plurality of command response indicators (61) and a plurality of stiffness indicators (62). The servo adjuster (6) also generates an evaluation indicator measuring pattern (63) by a combination of each command response indicator (61) and each stiffness indicator (62). A motor (3) is driven in accordance with the generated evaluation indicator measuring pattern (63) while the command response indicators (61) and the stiffness indicators (62) are sequentially changed.

主权项

1. A motor drive device that drives a motor, the motor drive device comprising:
a command response setting unit that receives a position command, performs filter processing of removing a specific frequency band, and transmits a result of the filter processing as a post-filter position command; a position and speed controller that receives the post-filter position command and motor positional information transmitted from an encoder, generates a torque command such that a deviation between the post-filter position command and the motor positional information becomes zero, and transmits the generated torque command; a load characteristic compensator that receives the torque command, multiplies the torque command by inertia estimated values of the motor and a load applied to the motor, adds a friction torque estimated value of the load, generates a post-compensation torque command to drive the motor, and transmits the generated post-compensation torque command; a servo adjuster that stores a plurality of command response indicators and a plurality of stiffness indicators, and generates an evaluation indicator measuring pattern by a combination of each of the command response indicators and each of the stiffness indicators; a command response setting function that automatically sets a filter characteristic of the command response setting unit in accordance with the command response indicator constituting the evaluation indicator measuring pattern, the command response indicator being transmitted from the servo adjuster; a stiffness setting function that automatically sets a parameter of the position and speed controller in accordance with the stiffness indicator constituting the evaluation indicator measuring pattern, the stiffness indicator being transmitted from the servo adjuster; an evaluation indicator measuring function that automatically measures an evaluation indicator derived from at least one of the position command, the motor positional information, and the post-compensation torque command; and a storage in which a result measured by the evaluation indicator measuring function is stored, wherein the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed.