Motor control constant calculation device

Patent metadata

Field	Value
Publication number	US-9859836-B2
Application number	US-201415129011-A
Country	US
Kind code	B2
Filing date	May 13, 2014
Priority date	May 13, 2014
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

By providing a configuration for calculating motor control constants to be set in a motor control apparatus automatically on the basis of a target response time constant obtained from a target response time constant input unit, waveform parameters obtained from a waveform parameter input unit, a normalized time constant obtained from a normalized time constant calculation unit, and a motor load inertia obtained from a motor load inertia input unit, it is possible to obtain a motor control constant calculation device that can determine appropriate motor control constants for obtaining a desired response characteristic by automatic calculation while avoiding variation and an increase in the number of steps due to differences in the abilities of users.

First claim

The invention claimed is:

1. A motor control constant calculation apparatus that calculates motor control constants for a motor control apparatus so that a motor exhibits a desired response characteristic,
wherein the motor control apparatus includes a first communication interface and is configured to generate a target speed as a speed command relating to the motor, control a first low pass filter (LPF) to implement filtering processing on a signal waveform of the generated target speed, control a second LPF to reduce noise in a signal waveform of a motor speed detected from the motor, calculate a deviation between the target speed and the motor speed after the signal waveform of the target speed passes through the first LPF and the signal waveform of the motor speed passes through the second LPF, calculate a target torque to be generated by the motor on the basis of the calculated deviation, calculate a voltage to be applied to the motor on the basis of the calculated target torque, and output the calculated voltage to the motor,
and
wherein the motor control constant calculation apparatus is configured to receive an input of a target response time constant and set the target response time constant which defines a response speed for obtaining the desired response characteristic, to receive an input of waveform parameters and set the waveform parameters which define a response waveform for obtaining the desired response characteristic, to receive an input of a motor load inertia and set the motor load inertia of the motor, to calculate a normalized time constant on the basis of the set waveform parameters, to calculate the motor control constants including a filter time constant, a proportional gain, and an integral gain to be set in relation to the first LPF, the second LPF, and a calculation of the target torque based on the set target response time constant, the set waveform parameters, the normalized time constant, and the set motor load inertia, and to control a second communication interface to send the calculated motor constants to the motor control apparatus through the first communication interface.

2. The motor control constant calculation apparatus according to claim 1 , wherein the motor control constant calculation apparatus is configured to receive an input of a target acceleration and set the target acceleration of a ramp response and an allowable value of a steady state deviation from the target acceleration as ramp response specifications so that the motor exhibits a desired ramp response characteristic, and
to calculate the motor control constants further based on the ramp response specifications.

3. The motor control constant calculation apparatus according to claim 2 , wherein, in Equations (O), (P), and (Q),

τ
LPF

≤

min
⁡

(

τ
d

τ
s

⁢

γ
1

⁢

γ
2

,

e
ramp



a
ref



⁢

γ
1

⁢

γ
2

)

(
O
)

K
vp

=

J

τ
LPF

⁢

γ
2

(
P
)

K
vi

=

K
vp
2

J
⁢

⁢

γ
1

=

J

τ
LPF
2

⁢

γ
1

⁢

γ
2
2

(
Q
)

the motor control constant calculation apparatus calculates the filter time constant to satisfy Equation (O), and calculates the proportional gain and the integral gain to satisfy Equations (P) and (Q),
where τ LPF denotes the filter time constant,
a ref denotes the target acceleration of the ramp response,
e ramp denotes the allowable value of the steady state deviation of the ramp response from the target acceleration,

Assignees

• Mitsubishi Electric Corp

Inventors

• Yokoyama Kazuto
• Iezawa Masahiro
• Enoki Keiichi
• Ogawa Yasufumi
• Nakano Kotaro

Classifications

• G05B17/02

  electric · CPC title

• H02P29/00 Primary

  Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors (arrangements for starting electric motors H02P1/00; arrangements for stopping or slowing electric motors H02P3/00; control of motors that can be connected to two or more different electric power supplies H02P4/00; regulating or controlling the speed or torque of two or more electric motors H02P5/00; vector control H02P21/00) · CPC title

• H02P29/50

  Reduction of harmonics · CPC title

• H02P21/143 Primary

  Inertia or moment of inertia estimation · CPC title

• H02P29/0016

  Control of angular speed of one shaft without controlling the prime mover · CPC title