Motor control apparatus for correcting interpolation error of position detector

Patent metadata

Field	Value
Publication number	US-9958837-B2
Application number	US-201514614752-A
Country	US
Kind code	B2
Filing date	Feb 5, 2015
Priority date	Feb 6, 2014
Publication date	May 1, 2018
Grant date	May 1, 2018

Abstract

A motor control apparatus includes a position detector for detecting the position of a rotor of a motor, a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector, a speed command generation unit for generating a speed command which commands a rotation speed of the rotor of the motor, a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector, a correction processing unit for correcting the speed detection value by using the correction amount, and a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value corrected by the correction processing unit.

First claim

The invention claimed is:

1. A motor control apparatus, comprising:
a position detector for detecting the position of a rotor of a motor;
a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector;
a speed command generation unit for generating, a speed command which commands a rotation speed of the rotor of the motor;
a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector;
a correction processing unit directly coupled to the correction amount calculation unit and the speed detection unit for receiving the correction amount and the speed detection value, respectively, and the correction processing unit correcting the speed detection value by using the correction amount;
and a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value corrected by the correction processing unit,
wherein the correction amount calculation unit calculates the correction amount by superposing a plurality of sinusoidal waves, and increasing a number of said plurality of superposed sinusoidal waves until the difference between a torque command error and the correction amount is within a predetermined range, and wherein each of the sinusoidal frequency components has a value which is a natural number times a basic frequency determined by a rotation frequency of the motor and a physical scale number of the position detector, and
wherein the correction amount=Σ n=1 m g n sin(nθ+ψn), where each of m and n is a natural number (1≤n≤m), gn is an amplitude component of an n-th harmonic, θ is the position detection value, and ψn is an initial phase of the n-th harmonic.

2. The motor control apparatus according to claim 1 , wherein the correction amount calculation unit determines each of the sinusoidal waves which are synthesized in the calculation processing of a correction amount such that the difference between an error which is caused by an interpolation error for one rotation of the rotor which the position detector contains which is measured in advance and the correction amount is within a predetermined range.

3. A motor control apparatus, comprising:
a position detector for detecting the position of a rotor of a motor;
a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector;
a speed command generation unit for generating a speed command which commands a rotation speed of the rotor of the motor; a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value;
a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector;
and a correction processing unit for correcting the torque command by subtracting the correction amount,
wherein the correction amount calculation unit calculates the correction amount by superposing a plurality of sinusoidal waves, and increasing a number of said plurality of superposed sinusoidal waves until the difference between a torque command error and the correction amount is within a predetermined range, and
wherein each of the sinusoidal frequency components has a value which is a natural number times a basic frequency determined by a rotation frequency of the motor and a physical scale number of the position detector,
wherein the correction amount=Σ n=1 m g n sin(nθ+ψn), where each of m and n is a natural number (1≤n≤m), gn is an amplitude component of an n-th harmonic, θ is the position detection value, and ψn is an initial phase of the n-th harmonic.

4. The motor control apparatus according to claim 3 , wherein the correction amount calculation unit determines each of the sinusoidal waves which are synthesized in the calculation processing of a correction amount such that the difference between an error which is caused by an interpolation error for one rotation of the rotor which the position detector contains which is measured in advance and the correction amount is within a predetermined range.

Assignees

• Fanuc Corp

Inventors

• Tsuneki Ryoutarou

Classifications

• G05B11/011 Primary

  details of the correcting means · CPC title