Motor control device

Patent metadata

Field	Value
Publication number	US-9859829-B2
Application number	US-201615393792-A
Country	US
Kind code	B2
Filing date	Dec 29, 2016
Priority date	Jan 8, 2016
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

In a motor control device, a velocity feed-forward control portion includes a velocity-side acceleration input portion that outputs received high-order command acceleration as a velocity-side acceleration output; a velocity-side velocity input portion that outputs a received high-order command velocity as a velocity-side velocity output; velocity-side boundary-velocity input portions which are prepared so as to respectively correspond to boundary velocities, and to output velocity-side boundary velocity outputs from the velocity-side boundary-velocity input portions corresponding to the high-order command velocity, the boundary velocities being velocities at boundaries of preset adjacent velocity ranges obtained by dividing a limited velocity range; a velocity-side first weight learning portion that changes velocity-side first learning weights in accordance with a velocity deviation, the velocity-side first learning weights respectively corresponding to velocity-side first outputs; and a velocity-side output portion that outputs, as a second tentative command current, a value obtained by summing velocity-side first multiplication values.

First claim

What is claimed is:

1. A motor control device configured to control a position of a controlled object by using an electric motor that moves the position of the controlled object, and a position detection unit that detects a position related to the electric motor, the motor control device comprising:
a position deviation computation portion that computes a position deviation that is a deviation between a command position for the electric motor and an actual position based on a detection signal from the position detection unit;
a position feedback control portion that executes feedback control in accordance with the position deviation and outputs a first tentative command velocity;
a velocity deviation computation portion that computes a velocity deviation that is a deviation between a low-order command velocity for the electric motor including the first tentative command velocity and an actual velocity based on the detection signal from the position detection unit;
a velocity feedback control portion that executes feedback control in accordance with the velocity deviation and outputs a first tentative command current;
a velocity feed-forward control portion that executes feed-forward control in accordance with a high-order command velocity that is different from the low-order command velocity and outputs a second tentative command current;
a current addition computation portion that adds the first tentative command current to the second tentative command current and outputs a command current; and
a current output portion that outputs a drive current for the electric motor based on the command current, wherein
the velocity feed-forward control portion includes: a velocity-side acceleration input portion that receives high-order command acceleration and outputs the received high-order command acceleration as a velocity-side acceleration output; a velocity-side velocity input portion that receives the high-order command velocity and outputs the received high-order command velocity as a velocity-side velocity output; a plurality of velocity-side boundary-velocity input portions which are prepared so as to respectively correspond to a plurality of boundary velocities, to receive the high-order command velocity, and to output a velocity-side boundary velocity output from a velocity-side boundary-velocity input portion corresponding to the high-order command velocity, the plurality of the boundary velocities being velocities at boundaries of a plurality of preset adjacent velocity ranges that are obtained by dividing a limited velocity range that is limited relative to a velocity range of the high-order command velocity; a velocity-side first weight learning portion that changes a plurality of velocity-side first learning weights in accordance with the velocity deviation, the velocity-side first learning weights respectively corresponding to velocity-side first outputs that include the velocity-side acceleration output, the velocity-side velocity output, and the velocity-side boundary velocity output; and a velocity-side output portion that outputs, as the second tentative command current, a value obtained by summing a plurality of velocity-side first multiplication values that are obtained by multiplying the velocity-side first outputs by the velocity-side first learning weights that respectively correspond to the velocity-side first outputs.

2. The motor control device according to claim 1 , wherein:
the limited velocity range that has a velocity-physical phenomenon characteristic and that is regarded as having a nonlinear characteristic is divided into the velocity ranges each of which is regarded as having a linear characteristic, the velocity-physical phenomenon characteristic indicating a relationship between a velocity and a specified physical phenomenon including friction at a time when the controlled object is moved; and
the velocities at the boundaries of the velocity ranges are set as the boundary velocities.

3. A motor control device configured to control a position of a controlled object by using an electric motor that moves the position of the controlled object, and a position detection unit that detects a position related to the electric motor, the motor control device comprising:
a position deviation computation portion that computes a position deviation that is a deviation between a command position for the electric motor and an actual position based on a detection signal from the position detection unit;
a position feedback control portion that executes feedback control in accordance with the position deviation and outputs a first tentative command velocity;
a velocity deviation computation portion that computes a velocity deviation that is a deviation between a low-order command velocity for the electric motor including the first tentative command velocity and an actual velocity based on the detection signal from the position detection unit;
a velocity feedback control portion that executes feedback control in accordance with the velocity deviation and outputs a first tentative command current;
a velocity feed-forward control portion that executes feed-forward control in accordance with a high-order command velocity that is different from the low-order command velocity and outputs a second tentative command current;
a current addition computation portion that adds the first tentative command current to the second tentative command current and outputs a command current; and
a current output portion that outputs a drive current for the electric motor based on the command current, wherein
the velocity feed-forward control portion includes: a velocity-side positive/negative-velocity firing portion that receives the high-order command velocity, outputs a velocity-side positive-velocity output value when the received high-order command velocity is positive, and outputs a velocity-side negative-velocity output value when the received high-order command velocity is negative; a velocity-side boundary-velocity firing portion that has a plurality of boundary velocities, receives the high-order command velocity, and outputs velocity-side boundary-velocity output values from the boundary velocities each of which has a velocity difference from the high-order command velocity that is equal to or smaller than a specified velocity difference among the plurality of the boundary velocities, each of the velocity-side boundary-velocity output values being based on the velocity difference from the high-order command velocity, and the plurality of the boundary velocities being velocities at boundaries of a plurality of preset adjacent velocity ranges that are obtained by dividing a limited velocity range that is limited relative to a velocity range of the high-order command velocity; a velocity-side acceleration input portion that receives high-order command acceleration and outputs the received high-order command acceleration as a velocity-side acceleration output; a velocity-side positive-velocity input portion that receives the velocity-side positive-velocity output value and outputs the received velocity-side positive-velocity output value as a velocity-side positive-velocity output; a velocity-side negative-velocity input portion that receives the velocity-side negative-velocity output value and outputs the received velocity-side negative-velocity output value as a velocity-side negative-velocity output; a plurality of velocity-side boundary-velocity input portions which are prepared so as to respectively correspond to the plurality of the boundary velocities, to receive the velocity-side boundary-velocity output values, and to output the received velocity-side boundary-velocity output values as a plurality of velocity-side boundary velocity outputs; a velocity-side first weight learning portion that changes a plurality of velocity-side first learning weights in ac

Assignees

• Jtekt Corp

Inventors

• Numazaki Kazuya
• Mukai Yasuharu

Classifications

• G05B13/0285

  using neural networks and fuzzy logic · CPC title

• H02P21/001

  using fuzzy control · CPC title

• H02P21/14 Primary

  Estimation or adaptation of machine parameters, e.g. flux, current or voltage · CPC title

• G05B13/027 Primary

  using neural networks only · CPC title