Motor controller and motor system

摘要

A motor controller includes a position speed estimation section and a control section. The position speed estimation section outputs a motor estimated position and a motor estimated speed based on a position estimated error, which is a difference between a motor position of a motor and the motor estimated position. An observer modifier outputs an observer modification value based on the position estimated error. A nonlinear compensator outputs a compensation torque based on the position estimated error. An operator outputs an operation value based on the observer modification value and the compensation torque. A motor model outputs the motor estimated position and the motor estimated speed based on the operation value. The control section outputs a torque command based on the motor estimated position, the motor estimated speed, and a position command to control the motor.

主权项

1. A motor controller comprising:
a position speed estimation section configured to output a motor estimated position and a motor estimated speed based on a position estimated error, the position estimated error being a difference between a motor position of a motor and the motor estimated position, the position speed estimation section comprising:
an observer modifier configured to output an observer modification value based on the position estimated error;a nonlinear compensator configured to output a compensation torque based on the position estimated error;an operator configured to output an operation value based on the observer modification value and the compensation torque; anda motor model of the motor, the motor model being configured to output the motor estimated position and the motor estimated speed based on the operation value; and a control section configured to output a torque command based on the motor estimated position, the motor estimated speed, and a position command so as to control the motor.