Motor control device

Patent metadata

Field	Value
Publication number	US-9778624-B2
Application number	US-201414780834-A
Country	US
Kind code	B2
Filing date	Feb 27, 2014
Priority date	Apr 18, 2013
Publication date	Oct 3, 2017
Grant date	Oct 3, 2017

Abstract

A motor control device. When the motor control device executes pressure control of which a minor loop is speed control or position control, the pressure control is executed in a manner that pressurization or depressurization is performed while a control parameter of the speed control is fixed; a control parameter of the pressure control is gradually increased; an oscillation amount is successively detected and stored. If the oscillation amount exceeds an acceptable value, on the basis of the control parameter of the pressure control and the oscillation amount stored during adjustment, the control parameter of the pressure control is adjusted such that the oscillation amount is equal to or less than the acceptable value.

First claim

The invention claimed is:

1. A motor control device comprising:
a motor;
a speed detection unit that detects or estimates a speed of the motor;
a mechanical drive unit that drives a mechanical load by an operation of the motor;
a pressure detection unit that detects, as a pressure detection signal, information on pressure or force when the mechanical load is pressed against a pressurization target;
a pressure control unit that calculates an internal speed-command signal for the motor on the basis of a pressure control parameter such that the pressure detection signal follows a pressure command signal;
a speed control unit that calculates a torque command signal or a force command signal for the motor on the basis of a speed control parameter such that a speed detection signal follows a speed command signal that is either one of the internal speed-command signal and an external speed-command signal;
an oscillation detection unit that detects an oscillation of control state quantity; and
a pressure-control-unit parameter adjustment unit in which,
in a state where the mechanical load does not make contact with the pressurization target and after the speed control parameter is adjusted, and in a state of the mechanical load being pressed against the pressurization target, the pressure control parameter is changed while the speed control parameter is fixed,
the pressure control parameter is changed to extend from a setting with a narrow control bandwidth of the pressure control unit to a wide control bandwidth; and
when the oscillation detection unit detects oscillation, the control parameter of the pressure is adjusted such that the control bandwidth of the pressure control is narrower than that with a control parameter of the pressure at the time of the detection of the oscillation.

2. The motor control device according to claim 1 , wherein
the pressure control parameter is adjusted under a state where
pressurization operations or depressurization operations are repeated while the mechanical load is in contact with the pressurization target, and
oscillation amount or overshoot amount is detected while pressure is being controlled.

3. The motor control device according to claim 1 , wherein
in a state of a pressure value being fixed without performing a pressurization operation or a depressurization operation, the oscillation detection unit detects an oscillation of control state quantity when a torque command signal or a force command signal is applied from outside independently of a torque command signal or a force command signal for the motor calculated by the speed control unit.

4. A motor control device comprising:
a motor;
a speed detection unit that detects or estimates a speed of the motor;
a mechanical drive unit that drives a mechanical load by an operation of the motor;
a pressure detection unit that detects, as a pressure detection signal, information on pressure or force when the mechanical load is pressed against a pressurization target;
a pressure control unit that calculates an internal speed-command signal for the motor on the basis of a pressure control parameter such that the pressure detection signal follows a pressure command signal;
a speed control unit that calculates a torque command signal or a force command signal for the motor on the basis of a speed control parameter such that a speed detection signal follows a speed command signal that is either one of the internal speed-command signal and an external speed-command signal;
an overshoot-amount detection unit that detects an overshoot amount from a target value response; and
a pressure-control-unit parameter adjustment unit in which,
in a state where the mechanical load does not make contact with the pressurization target and after the speed control parameter is adjusted, and in a state of the mechanical load being pressed against the pressurization target, the pressure control parameter is changed while the speed control parameter is fixed,
the pressure control parameter is changed to extend from a setting with a narrow control bandwidth of the pressure control unit to a control bandwidth with a wide control bandwidth of the pressure control unit, and
the control parameter of the pressure is adjusted such that the control bandwidth of the pressure is narrower than that with a control parameter of the pressure when an overshoot amount detected by the overshoot-amount detection unit exceeds an overshoot threshold.

5. The motor control device according to according to claim 4 , wherein
the pressure control parameter is adjusted under a state where
pressurization operations or depressurization operations are repeated while the mechanical load is in contact with the pressurization target, and
oscillation amount or overshoot amount is detected while pressure is being controlled.

6. A motor control device comprising:
a motor;
a speed detection unit that detects or estimates a speed of the motor;
a mechanical drive unit that drives a mechanical load by an operation of the motor;
a pressure detection unit that detects information on pressure or force when the mechanical load is pressed against a pressurization target as a pressure detection signal;
a pressure control unit that calculates an internal position-command signal for the motor on the basis of a pressure control parameter such that the pressure detection signal follows a pressure command signal;
a position control unit that calculates a speed command signal for the motor on the basis of a position control parameter so as to cause a current position signal to follow a position command signal that is either one of the internal position-command signal and an external position-command signal;
a speed control unit that calculates a torque command signal or a force command signal for the motor on the basis of a speed control parameter such that a speed detection signal follows the internal speed-command signal;
an oscillation detection unit that detects an oscillation of control state quantity; and
a pressure-control-unit parameter adjustment unit in which,
in a state where the mechanical load does not make contact with the pressurization target and after the speed control parameter and the position control parameter are adjusted, and in a state of the mechanical load being pressed against the pressurization target, the pressure control parameter is changed while a position control parameter and the speed control parameter are fixed,
the pressure control parameter is changed to extend from a setting with a narrow control bandwidth of the pressure control unit to a wider control bandwidth of the pressure control unit, and
when the oscillation detection unit detects oscillation, the control parameter of the pressure is adjusted such that the control bandwidth of the pressure is narrower than that with a control parameter of the pressure when the oscillation detection unit detects the oscillation.

7. The motor control device according to according to claim 6 , wherein
the pressure control parameter is adjusted under a state where
pressurization operations or depressurization operations are repeated while the mechanical load is in contact with the pressurization target, and
oscillation amount or overshoot amount is detected while pressure is being controlled.

8. The motor control device according to claim 6 , wherein
in a state of a pressure value being fixed without performing a pressurization operation or a depressurization operation, the oscillation detection unit detects an oscillation of control state quantity when a torque command signal or a force command signal is applied from outside independently of a torque command signal or a force command signal for the motor calcula

Assignees

• Mitsubishi Electric Corp

Inventors

• Ueda Koichiro

Classifications

• B29C45/76

  Measuring, controlling or regulating {(measuring in general G01; controlling or regulating in general G05)} · CPC title

• G05D19/02

  characterised by the use of electric means · CPC title

• B29C45/77

  of velocity or pressure of moulding material · CPC title

• G05B2219/45244

  Injection molding · CPC title

• G05B19/19 Primary

  characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path · CPC title