MOTOR CONTROL DEVICE

摘要

A motor control device. When the motor control device executes pressure control of which a minor loop is speed control or position control, the pressure control is executed in a manner that pressurization or depressurization is performed while a control parameter of the speed control is fixed; a control parameter of the pressure control is gradually increased; an oscillation amount is successively detected and stored. If the oscillation amount exceeds an acceptable value, on the basis of the control parameter of the pressure control and the oscillation amount stored during adjustment, the control parameter of the pressure control is adjusted such that the oscillation amount is equal to or less than the acceptable value.

主权项

1. A motor control device comprising:
a motor; a speed detection unit that detects or estimates a speed of the motor; a mechanical drive unit that drives a mechanical load by an operation of the motor; a pressure detection unit that detects, as a pressure detection signal, information on pressure or force when the mechanical load is pressed against a pressurization target; a pressure control unit that calculates an internal speed-command signal for the motor on the basis of a pressure control parameter such that the pressure detection signal follows a pressure command signal; a speed control unit that calculates a torque command signal or a force command signal for the motor on the basis of a speed control parameter such that a speed detection signal follows a speed command signal that is either one of the internal speed-command signal and an external speed-command signal; an oscillation detection unit that detects an oscillation of control state quantity; and a pressure-control-unit parameter adjustment unit in which,
in a state where the mechanical load does not make contact with the pressurization target and after the speed control parameter is adjusted, and in a state of the mechanical load being pressed against the pressurization target, the pressure control parameter is changed while the speed control parameter is fixed,the pressure control parameter is changed to extend from a setting with a narrow control bandwidth of the pressure control unit to a wide control bandwidth; andwhen the oscillation detection unit detects oscillation, the control parameter of the pressure is adjusted such that the control bandwidth of the pressure control is narrower than that with a control parameter of the pressure at the time of the detection of the oscillation.