Motor control device

摘要

A motor control device of the present invention includes a position detector (107), a feedforward controller, a predistorter, a feedback controller, a vibration suppression controller, a torque controller, a torque estimator, and an adjustment calculator. The vibration suppression controller receives a manipulation-quantity command value derived by addition of a feedforward manipulation quantity and a feedback manipulation quantity, and outputs an actual manipulation-quantity command value corresponding to the received manipulation-quantity command value. The torque controller controls a manipulation quantity generated by the motor so that the manipulation quantity matches the actual manipulation-quantity command value. The adjustment calculator adjusts a transfer characteristic of the predistorter such that the transfer characteristic becomes equal to a transfer characteristic from the manipulation-quantity command value to the manipulation quantity.

主权项

1. A motor control device comprising:
a state quantity detector for detecting a movement of a motor, calculating a quantity of the movement, and outputting the calculated quantity of the movement as a state-quantity detected value; a feedforward controller for receiving a state-quantity command value that directs the movement, and outputting a feedforward manipulation quantity corresponding to the received state-quantity command value; a variable predistorter for receiving the state-quantity command value, and outputting a state-quantity command corrected value produced by correcting the received state-quantity command value; a feedback controller for receiving a difference between the state-quantity command corrected value and the state-quantity detected value, and outputting a feedback manipulation quantity corresponding to the received difference between the state-quantity command corrected value and state-quantity detected value; a vibration suppression controller for receiving a manipulation-quantity command value that is a value derived by addition of the feedforward manipulation quantity and the feedback manipulation quantity, and outputting an actual manipulation-quantity command value corresponding to the received manipulation-quantity command value; a manipulation quantity controller for controlling a manipulation quantity generated by the motor such that the manipulation quantity matches the actual manipulation-quantity command value; a manipulation quantity estimator for receiving the state-quantity detected value, and outputting a manipulation-quantity estimated value corresponding to the received state-quantity detected value; and an adjustment calculator for adjusting a transfer characteristic of the predistorter, wherein the adjustment calculator adjusts the transfer characteristic of the predistorter such that the transfer characteristic becomes equal to a transfer characteristic from the manipulation-quantity command value to the manipulation quantity.