Motor control device

摘要

A motor-control-device main unit includes a pressure-command-signal generating section, a pressure control section, a speed control section, a current control section, and a parameter-adjusting section. With respect to a parameter for a control computation by the pressure control section, the parameter-adjusting section includes an information-acquiring section and a parameter-calculating section. The information-acquiring section acquires, from an exterior, each of pieces of information including an elastic constant of a pressurized target, a reaction-force constant indicating information of a reaction force, a transfer characteristic from a motor torque to a motor speed, and parameters of the speed control section. The information-acquiring section previously acquires information of a control law of the speed control unit. The parameter-calculating section calculates a parameter for the pressure control section based on the information acquired by the information-acquiring section.

主权项

1. A motor control device provided to an electric mechanism including a motor, the electric mechanism being connected to a mechanical load for applying a dynamic physical quantity corresponding to any one of a force and a pressure to a target, the electric mechanism displacing the mechanical load to press the mechanical load against the target and apply the dynamic physical quantity to the target by power of the motor, the motor control device comprising:
a motor-control-device main unit that acquires a value of the dynamic physical quantity exerted from the mechanical load to the target as a physical-quantity acquisition value and generating a physical-quantity command value for making the physical-quantity acquisition value equal to a preset physical-quantity target value so as to control driving of the motor by using the physical-quantity acquisition value and the physical-quantity command value, the motor-control-device main unit including
a physical-quantity control section that calculates a speed command value based on the physical-quantity acquisition value, and the physical-quantity command value, and a parameter;a speed control section that calculates a torque command value or a thrust command value for the motor based on a motor-speed detection value detected by speed detecting means for detecting a motor speed of the motor and the speed command value calculated by the physical-quantity control section;a current control section that controls a current flowing through the motor based on the torque command value or the thrust command value, which is calculated by the speed control section; anda pressure-control-parameter adjusting section including an information-acquiring section that acquires
information of an elastic constant of the target,information regarding a reaction force of a motor torque or a thrust, the reaction force being generated with exertion of the dynamic physical quantity from the mechanical load to the target,information of a transfer characteristic from the motor torque or the thrust to the motor speed, a motor position, or a motor acceleration,information of a control law of the speed control section, andinformation of a parameter of the speed control section,the pressure-control-parameter adjusting section adjusting the parameter of the physical-quantity control section using the information acquired by the information-acquiring section and a transfer characteristic from a signal of the physical-quantity acquisition value to the motor speed that is a transfer characteristic containing a differential characteristic having a reciprocal of the elastic constant of the target as a proportionality constant.