CONTROL DEVICE FOR MOTOR DRIVE DEVICE, CONTROL DEVICE FOR MULTI-AXIAL MOTOR, AND CONTROL METHOD FOR MOTOR DRIVE DEVICE
First Claim
1. A control device for a motor drive device configured to perform motion control of a moving member via a transmission mechanism connected to a motor, the control device comprising:
- a thrust control unit configured to generate a position command value for the motor based on an input thrust command value; and
a motor control unit configured to generate a current value to control the motor based on the position command value for the motor,whereinthe motor control unit executes a first feedback control according to detection results of a motor position detecting unit configured to detect a position of an output member that outputs rotation of the motor, andthe thrust control unit executes a second feedback control according to detection results of a thrust detecting unit configured to detect thrust occurring at the moving member.
1 Assignment
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Accused Products
Abstract
Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.
35 Citations
20 Claims
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1. A control device for a motor drive device configured to perform motion control of a moving member via a transmission mechanism connected to a motor, the control device comprising:
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a thrust control unit configured to generate a position command value for the motor based on an input thrust command value; and a motor control unit configured to generate a current value to control the motor based on the position command value for the motor, wherein the motor control unit executes a first feedback control according to detection results of a motor position detecting unit configured to detect a position of an output member that outputs rotation of the motor, and the thrust control unit executes a second feedback control according to detection results of a thrust detecting unit configured to detect thrust occurring at the moving member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19)
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14. A control device for a multi-axial motor drive device having a plurality of motor drive devices performing motion control of moving members via transmission mechanisms connected to motors, where the moving member of one motor drive device is serially connected so as to support the motor of another motor drive device, the control device comprising, corresponding to each motor drive device:
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a drive device control unit configured to generate a thrust command value, based on an externally input position command value for the moving member; a thrust control unit configured to generate a position command value of the motor, based on the generated thrust command value; and a motor control unit configured to generate a current value to control the motor, based on the position command value for the motor, wherein each motor control unit executes a first feedback control according to detection results of a motor position detecting unit configured to detect a position of an output member that outputs rotation of the motor, each thrust control unit executes a second feedback control according to detection results of a thrust detecting unit configured to detect thrust occurring at the moving member, and each drive device control unit executes a third feedback control in accordance with detection results from a moving member position detecting unit configured to detect the position of the moving member. - View Dependent Claims (15, 16)
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17. A robot device having an arm driven via a transmission mechanism connected to a motor, the robot device comprising:
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a thrust detecting unit configured to obtain thrust transmitted from the transmission mechanism to the arm; and an encoder configured to obtain the position of the arm as to the motor.
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20. A control method of a motor drive device configured to perform motion control of a moving member via a transmission mechanism connected to a motor, the method comprising:
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a thrust control procedure to generate a position command value for the motor based on an input thrust command value; a motor control procedure to generate a current value to control the motor based on the position command value for the motor; and a feedback procedure, where a first feedback control is performed in the motor control procedure, according to detection results of a motor position detecting unit configured to detect a position of an output member that outputs rotation of the motor, and a second feedback control is performed in the thrust control procedures, according to detection results of a thrust detecting unit configured to detect thrust occurring at the moving member.
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Specification