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Motor control device and method for measuring a mechanical characteristic

A technology of motor controllers and mechanical devices, applied in the direction of motor control, electrical program control, program control, etc., can solve the problems of affecting frequency response, slowing down of response, and inability to accurately measure the frequency characteristics of mechanical devices, so as to achieve accurate measurement of frequency response , The effect of easy inertia confirmation

Inactive Publication Date: 2004-06-02
YASKAWA DENKI KK
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the speed loop gain is reduced, its response will become slower, making it impossible to accurately measure the frequency characteristics of the mechanism
In addition, since the high-speed sweep waveform is used as the speed command, the characteristics of the speed loop will affect the frequency response, making it impossible to obtain accurate frequency characteristics

Method used

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  • Motor control device and method for measuring a mechanical characteristic
  • Motor control device and method for measuring a mechanical characteristic
  • Motor control device and method for measuring a mechanical characteristic

Examples

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Embodiment Construction

[0053] Embodiments for realizing the present invention will be described in detail below with reference to the accompanying drawings.

[0054] image 3 is a block diagram of a configuration of a motor controller employing a method of measuring a characteristic of a mechanical device according to an embodiment of the present invention.

[0055] Such as image 3 As shown, the motor controller of this embodiment includes: a command generation unit 11, a position control unit 12, a speed control unit 13, a torque filter unit 14, a disturbance signal generation unit 15, an adder 16, and a current control unit 17. The motor controller will measure the frequency characteristics of the motor 18 connected to the base unit 19 . exist image 3 in, with figure 1 and figure 2 The same constituent elements in are denoted by the same reference numerals, and descriptions of these same elements will be omitted here.

[0056] The command generation unit 11 outputs a position command. Th...

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Abstract

An object of the invention is to provide a motor controller and a mechanism characteristic measurement method, which enable measurement of a frequency response of a mechanism without involvement of positional displacement or torque saturation, as well as simultaneous measurement of a frequency characteristic and identification of inertia. A detector (20) detects the position of a motor, and a differentiator (26) calculates the speed of the motor from the position of the motor. An command generation section (11) fixes a position command to a current position. A position control section (12) generates a speed command such that the position command matches the position of the motor. A speed control section (13) generates such a torque command that the speed command coincides with the speed of the motor. An adder (16) adds a high-speed sweep waveform generated by a random signal generation section (15) as torque random to a torque command output from a torque filter section (14), thereby outputting a new torque command. A current control section (17) converts the torque command into a current command, thereby driving a motor (18). A frequency response measurement section (21) receives a torque command output from the adder (16) and a motor speed calculated by a differentiator (26) and measures a frequency response.

Description

technical field [0001] The present invention relates to a motor controller for controlling a motor, an automatic machine, or a machine tool, etc., and more particularly, to a method for measuring the characteristics of a mechanical device for measuring the frequency characteristics of a mechanical device connected to a motor and including the inertia of a base unit Mechanical properties. Background technique [0002] When using a motor controller to control a motor, robot, machine tool, etc., it is necessary to connect a base unit to the motor. Therefore, it is necessary to measure the frequency characteristics of the base unit connected to the motor, and the characteristics of the mechanism including the inertia of the base unit. [0003] Regarding the measurement of the frequency characteristic of the base unit, there is the following method: input a high-speed scanning waveform as a torque command, then use this torque command as input, and use the motor speed as output ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19G05B23/02G05D3/12H02P29/00
CPCG05B2219/41381G05B13/041G05B17/02G05B2219/41123G05B19/19G05D3/12
Inventor 鹤田和宽
Owner YASKAWA DENKI KK
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