| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor controller in which the control operation can be interrupted by detecting an abnormality in the control system quickly while locating the abnormal part. SOLUTION: The motor controller comprises means 2 for detecting the actual position and speed of a motor 1, and a controller 3 for controlling the motor 1 such that the actual position matches a position command being provided externally. Voltage and current being applied to the motor 1 are detected respectively, through a voltage detecting means 5 and a current detecting means 6 and a speed estimating means 7 estimates the speed of motor 1 based on the detected voltage and current. An abnormality detecting means 8 compares the estimated speed with a current control state, e.g. a set speed, and detects an abnormality when the difference reaches a predetermined level. Furthermore, a decision means locates the abnormal part based on the estimated speed, actual speed and the command speed, command current and motor current calculated by the controller 3. Actual speed or command speed may be employed as a control state in the abnormality detection. |
