MOTOR CONTROL DEVICE AND GAIN ADJUSTMENT METHOD THEREOF

摘要

A motor control device and a gain adjustment method thereof which can adjust a gain while updating the gain value of a control part by detecting the occurrence of oscillation of a feedback loop. The motor control device has a motor (1), an operation quantity detection part (2), a control part (3), a machine (5), a disturbance signal generation part (10) generating a sweeping sine wave, a compensation drive force detection part (11), an oscillation calculation part (12), an oscillation occurrence detection part (13), an oscillation storage part (14), an open loop simulation gain calculation part (15), a gain change part (30), and a gain automatic change part (31). According to a first threshold related to the amplitude of oscillation and a second threshold related to a frequency, the time series signal of a response is processed to detect the occurrence of the oscillation.