Motor controller

摘要

To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.

主权项

1. A motor controller for controlling a motor that drives a driving object to press the driving object against a pressure object at a pressure corresponding to a reference torque, the motor controller comprising:
a velocity controller that calculates a torque command to the motor and a regression torque for compensating for the torque command based on a detected velocity value of the motor; and a regression torque controller that calculates a first velocity command corresponding to a deviation between the reference torque and the regression torque calculated by the velocity controller, wherein the regression torque controller limits the calculated first velocity command up to a desired velocity limit value that is defined based on a contact velocity between the driving object and the pressure object, and outputs the first velocity command, and the velocity controller calculates the torque command so that the detected velocity value follows the first velocity command output from the regression torque controller.