Motor control device, position control system, and motor control method

• US 10,429,815 B2
• Filed: 08/17/2016
• Issued: 10/01/2019
• Est. Priority Date: 08/19/2015
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Yoshiura, Yasufumi, Oka, Yusuke, Kira, Toshinobu
• Primary Examiner(s): Dhakal, Bickey
• Application Number:
  US15/238,910
• Publication Number:
  US 20170052526A1
• Time in Patent Office: 1,140 Days
• CPC Class Codes: G05B 19/195 Controlling the position of several slides on one axis
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/36454 Master slave, director agent, operator replication
• CPC Class Codes: G05B 2219/41207 Lookup table with position command, deviation and correction value
• CPC Class Codes: G05B 2219/41407 Master changes resistor, slave restores value in order to follow master
• CPC Class Codes: G05B 2219/41418 Select feedback signal between detected position of motor and of driven load
• CPC Class Codes: G05B 2219/42186 Master slave, motion proportional to axis
• CPC Class Codes: H02K 11/21 Devices for sensing speed or position, or actuated thereby specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14

Abstract

A motor control device for controlling driving of a motor based on position commands input from a host control device includes an offset value memory including first circuitry which stores offset values corresponding to predetermined values of position commands, respectively, and a drive controller including second circuitry which acquires, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of a motor based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command.

Claims

1. A motor control device for controlling driving of a motor based on position commands input from a host control device, comprising:

an offset value memory configured to store a plurality of offset values corresponding to a plurality of predetermined values of a plurality of position commands, respectively; and

a drive controller configured to acquire, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of the motor based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command,

wherein the drive controller is configured to determine a master-slave relation between the motor control device and an additional motor control device to which a position command common to the motor control device is input, control the driving of the motor based on the offset position command when the motor control device has a slave relation with respect to the additional motor control device, and control the driving of the motor based on the input position command when the additional motor control device has a slave relation with respect to the motor control device.

2. The motor control device according to claim 1, wherein the offset value memory is configured to store the plurality of offset values which is a plurality of correction values with respect to differences between output positions of the motor that the motor control device controls and output positions of a motor that the additional motor control device controls.

3. The motor control device according to claim 2, wherein the plurality of correction values are set to be differences in position deviation between position feedback loops of the motor control device and the additional motor control device.

4. The motor control device according to claim 3, wherein the offset value memory is configured to store the plurality of offset values corresponding to the plurality of predetermined values each of which is set discretely, and the drive controller is configured to obtain an interpolation value of offset values that respectively correspond to predetermined values immediately before and after an offset value as the offset value corresponding to a position command value between the predetermined values.

5. The motor control device according to claim 2, wherein the offset value memory is configured to store the plurality of offset values corresponding to the plurality of predetermined values each of which is set discretely, and the drive controller is configured to obtain an interpolation value of offset values that respectively correspond to predetermined values immediately before and after an offset value as the offset value corresponding to a position command value between the predetermined values.

6. The motor control device according to claim 1, wherein the offset value memory is configured to store the plurality of offset values which is set by a user.

7. The motor control device according to claim 6, wherein the offset value memory is configured to store the plurality of offset values corresponding to the plurality of predetermined values each of which is set discretely, and the drive controller is configured to obtain an interpolation value of offset values that respectively correspond to predetermined values immediately before and after a new offset value corresponding to a position command value and set the interpolation value as the new offset value corresponding to the position command value between the predetermined values.

8. The motor control device according to claim 1, wherein the offset value memory is configured to store the plurality of offset values corresponding to the plurality of predetermined values each of which is set discretely, and the drive controller is configured to obtain an interpolation value from offset values that respectively correspond to predetermined values immediately before and after a new offset value corresponding to a position command value and set the interpolation value as the offset value corresponding to the position command value between the predetermined values.

9. The motor control device according to claim 1, wherein the offset value memory is configured to store the plurality of offset values corresponding to the plurality of predetermined values each of which is set discretely, and the drive controller is configured to obtain an interpolation value of offset values that respectively correspond to predetermined values immediately before and after an offset value as the offset value corresponding to a position command value between the predetermined values.

10. A position control system, comprising:

the motor control device of claim 1;

a motor configured to be driven by drive control of the motor control device such that the motor position controls a position control machine; and

a host control device comprising third circuitry configured to input the position commands to the motor control device.

11. A motor control device for controlling driving of a motor based on position commands input from a host control device, comprising:

storing means for storing a plurality of offset values corresponding to a plurality of predetermined values of a plurality of position commands, respectively; and

controlling means for controlling driving of a motor to a position that is offset from an input position command by an offset value acquired from the storing means in correspondence to the input position command,

wherein the controlling means if further means for determining a master-slave relation among the motor control devices, controlling the driving of the respective one of the motors based on the offset position command when a respective one of the motor control devices has a slave relation with respect to another one of the motor control devices, and controlling the driving of the respective one of the motors based on the input position command when the respective one of the motor control devices has a master relation with respect to another one of the motor control devices.

12. A position control system, comprising:

a plurality of motors configured to control a position control machines;

a host control device comprising circuitry configured to input a plurality of position commands; and

a plurality of motor control devices each comprising a drive controller configured to control driving of a respective one of the motors based on the position commands input from the host control device,

wherein each of the plurality of motor control devices comprises an offset value memory configured to store a plurality of offset values corresponding to a plurality of predetermined values of the plurality of position commands, respectively, and the drive controller configured to acquire, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of the respective one of the motors based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command,

wherein the drive controller is configured to determine a master-slave relation among the motor control devices, control the driving of the respective one of the motors based on the offset position command when a respective one of the motor control devices has a slave relation with respect to another one of the motor control devices, and control the driving of the respective one of the motors based on the input position command when the respective one of the motor control devices has a master relation with respect to another one of the motor control devices.

13. The position control system according to claim 12, wherein the offset value memory is configured to store the plurality of offset values which is a plurality of correction values with respect to differences between output positions of the motors.

14. The position control system according to claim 13, wherein the offset value memory is configured to store the plurality of correction values set to be differences in position deviation between position feedback loops of the motor control devices.

15. The position control system according to claim 14, wherein the offset value memory is configured to store the plurality of offset values which is set by a user.

16. A method for controlling driving of a motor based on a position command input from a host control device, comprising:

acquiring an offset value corresponding to an input position command;

controlling driving of a motor based on an offset position command obtained by adding the offset value to or subtracting the offset value from the input position command,

wherein the controlling of the driving comprises determining a master-slave relation between a plurality of motor control devices, controlling the driving of the motor based on the offset position command when one of the motor control devices has a slave relation with respect to another one of the motor control devices, and controlling the driving of the motor based on the input position command when the one of the motor control devices has a master relation with respect to another one of the motor control devices; and

storing the plurality of offset values which is a plurality of correction values with respect to differences between output positions of the motor and output positions of another motor.