Motor control device
First Claim
1. A motor control device comprising:
- a target setting unit that sets a target operation amount of a DC motor or a driving target driven by the DC motor;
a detecting unit that detects an actual operation amount corresponding to the target operation amount, of the DC motor or the driving target;
a controlling unit that controls the DC motor by calculating a manipulation amount of the DC motor required to conform the actual operation amount to the target operation amount and outputting a control signal which indicates the manipulation amount to the DC motor,estimation units that are respectively provided for a plurality of load levels in a fluctuation range of an estimated load amount of the DC motor, and that estimate a state quantity indicating an operating state of at least one of the DC motor or the driving target based on the actual operation amount detected by the detecting unit and the calculated manipulation amount, assuming that the load amount of the DC motor belongs to the corresponding load level,a switching unit that obtains actual load information indicating an actual load amount of the DC motor in a direct or indirect manner, and selectively performs switching to one of the estimation units, which is provided for the load level corresponding to the load amount indicated by the actual load information, whereinthe controlling unit calculates the manipulation amount based on the target operation amount, the actual operation amount, and the state quantity estimated by the estimation unit selected by the switching unit.
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Accused Products
Abstract
In a motor control device controlling a motor by a state feedback control, high control accuracy is maintained regardless of fluctuations in a motor load so as to improve control performance of the state feedback control. A control signal (manipulation amount) outputted from a feedback calculator for controlling the motor is compared to a manipulation threshold set to a manipulation threshold setting register so as to determine the magnitude of a load amount of the motor. The feedback calculator includes an observer and performs the state feedback control of the motor. When the load amount is in normal level, a normal load observer matrix set in an observer table is selected to configure a normal load observer. When the load amount is increased, a high load observer matrix is selected to configure a high load observer.
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Citations
17 Claims
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1. A motor control device comprising:
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a target setting unit that sets a target operation amount of a DC motor or a driving target driven by the DC motor; a detecting unit that detects an actual operation amount corresponding to the target operation amount, of the DC motor or the driving target; a controlling unit that controls the DC motor by calculating a manipulation amount of the DC motor required to conform the actual operation amount to the target operation amount and outputting a control signal which indicates the manipulation amount to the DC motor, estimation units that are respectively provided for a plurality of load levels in a fluctuation range of an estimated load amount of the DC motor, and that estimate a state quantity indicating an operating state of at least one of the DC motor or the driving target based on the actual operation amount detected by the detecting unit and the calculated manipulation amount, assuming that the load amount of the DC motor belongs to the corresponding load level, a switching unit that obtains actual load information indicating an actual load amount of the DC motor in a direct or indirect manner, and selectively performs switching to one of the estimation units, which is provided for the load level corresponding to the load amount indicated by the actual load information, wherein the controlling unit calculates the manipulation amount based on the target operation amount, the actual operation amount, and the state quantity estimated by the estimation unit selected by the switching unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification