Motor control device
First Claim
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1. A control device, comprising:
- a memory device having stored therein respective values of a control parameter for each of a plurality of different inertia values, as standard control parameter values; and
a control parameter setting unit configured to calculate, based on the standard control parameter values, a control parameter value corresponding to an inertia value of a control target, and configured to set the control parameter value;
wherein the control device is a device that is configured to control position and velocity of a motor in accordance with the control parameter value set by the control parameter setting unit,wherein the control device further comprises;
an automatic control-parameter adjustment unit configured to drive the motor while using an adjustment control target, and configured to gradually alter a control parameter used for controlling position and velocity of the motor, and, based on a control error obtained at each instance the control parameter is altered, configured to identify a control parameter value suitable for the adjustment control target as an adjusted control parameter; and
a control parameter changing unit configured to change the standard control parameter values based on the adjusted control parameter and an inertia value of the adjustment control target.
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Abstract
Control parameters such as an acceleration/deceleration time constant Tf, a position loop gain Kpf, a velocity loop proportional gain Pvf, and a velocity loop integral gain Ivf, each including respective values assigned to each of a plurality of different inertia values J0˜Jmax, are changed based on an inertia value Jx calculated by an inertia identifying unit and an adjusted control parameter calculated by an automatic control-parameter adjustment unit.
17 Citations
5 Claims
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1. A control device, comprising:
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a memory device having stored therein respective values of a control parameter for each of a plurality of different inertia values, as standard control parameter values; and a control parameter setting unit configured to calculate, based on the standard control parameter values, a control parameter value corresponding to an inertia value of a control target, and configured to set the control parameter value; wherein the control device is a device that is configured to control position and velocity of a motor in accordance with the control parameter value set by the control parameter setting unit, wherein the control device further comprises; an automatic control-parameter adjustment unit configured to drive the motor while using an adjustment control target, and configured to gradually alter a control parameter used for controlling position and velocity of the motor, and, based on a control error obtained at each instance the control parameter is altered, configured to identify a control parameter value suitable for the adjustment control target as an adjusted control parameter; and a control parameter changing unit configured to change the standard control parameter values based on the adjusted control parameter and an inertia value of the adjustment control target. - View Dependent Claims (2, 3, 4, 5)
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Specification