WO2009019953A1 - 電動機制御装置およびそのゲイン調整方法 - Google Patents

電動機制御装置およびそのゲイン調整方法 Download PDF

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Publication number
WO2009019953A1
WO2009019953A1 PCT/JP2008/062467 JP2008062467W WO2009019953A1 WO 2009019953 A1 WO2009019953 A1 WO 2009019953A1 JP 2008062467 W JP2008062467 W JP 2008062467W WO 2009019953 A1 WO2009019953 A1 WO 2009019953A1
Authority
WO
WIPO (PCT)
Prior art keywords
oscillation
gain
control device
motor control
occurrence
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/062467
Other languages
English (en)
French (fr)
Inventor
Takehiko Komiya
Kazuhide Takao
Keisei Inoki
Shuichi Mihara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to EP08778027A priority Critical patent/EP2178202A1/en
Priority to JP2009526376A priority patent/JP5206994B2/ja
Publication of WO2009019953A1 publication Critical patent/WO2009019953A1/ja
Priority to US12/698,147 priority patent/US8198851B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J19/00—Character- or line-spacing mechanisms
    • B41J19/18—Character-spacing or back-spacing mechanisms; Carriage return or release devices therefor
    • B41J19/20—Positive-feed character-spacing mechanisms
    • B41J19/202—Drive control means for carriage movement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/50—Reduction of harmonics
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37351—Detect vibration, ultrasound

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

　フィードバックループの発振を検出し、制御部のゲイン値を更新しながらゲイン調整することができる電動機制御装置およびそのゲイン調整方法を提供する。 　電動機（１）と、動作量検出部（２）と、制御部（３）と、機械（５）と、掃引正弦波を発生する外乱信号発生部（１０）と、補償駆動力検出部（１１）と、振動算出部（１２）と、発振検出部（１３）と、振動記憶部（１４）と、開ループ模擬ゲイン演算部（１５）と、ゲイン変更部（３０）と、ゲイン自動変更部（３１）とを備え、振動の大きさに係わる第１の閾値と、周波数に係わる第２の閾値とに従い、応答の時系列信号を処理して発振を検出する。
PCT/JP2008/062467 2007-08-03 2008-07-10 電動機制御装置およびそのゲイン調整方法 Ceased WO2009019953A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08778027A EP2178202A1 (en) 2007-08-03 2008-07-10 Motor control device and gain adjustment method thereof
JP2009526376A JP5206994B2 (ja) 2007-08-03 2008-07-10 電動機制御装置およびそのゲイン調整方法
US12/698,147 US8198851B2 (en) 2007-08-03 2010-02-02 Motor controller

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007202758 2007-08-03
JP2007-202758 2007-08-03

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/698,147 Continuation US8198851B2 (en) 2007-08-03 2010-02-02 Motor controller

Publications (1)

Publication Number Publication Date
WO2009019953A1 true WO2009019953A1 (ja) 2009-02-12

Family

ID=40341190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/062467 Ceased WO2009019953A1 (ja) 2007-08-03 2008-07-10 電動機制御装置およびそのゲイン調整方法

Country Status (5)

Country Link
US (1) US8198851B2 (ja)
EP (1) EP2178202A1 (ja)
JP (1) JP5206994B2 (ja)
TW (1) TW200929841A (ja)
WO (1) WO2009019953A1 (ja)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010250509A (ja) * 2009-04-14 2010-11-04 Mitsubishi Electric Corp 駆動制御装置
CN103163829A (zh) * 2011-12-13 2013-06-19 东芝机械株式会社 伺服控制装置及其调整方法
CN104035378A (zh) * 2013-03-05 2014-09-10 发那科株式会社 伺服电动机的控制装置
EP2408622A4 (en) * 2009-03-18 2015-08-26 Canon Kk DEVICE WITH MOTOR
DE102017107370A1 (de) 2016-04-13 2017-10-19 Fanuc Corporation Servosteuervorrichtung mit einer funktion zum automatischen regulieren eines steuersystems mit autonomer stabilisierung
US10281884B2 (en) 2015-10-28 2019-05-07 Fanuc Corporation Learning controller for automatically adjusting servo control activity

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002960A (zh) * 2014-05-27 2014-08-27 中国航天科技集团公司烽火机械厂 一种电动舵机振荡故障恢复的方法及系统
JP6426771B2 (ja) 2017-02-06 2018-11-21 ファナック株式会社 サーボ制御装置
JP6939024B2 (ja) * 2017-03-31 2021-09-22 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
WO2020075316A1 (ja) * 2018-10-12 2020-04-16 三菱電機株式会社 位置決め制御装置及び位置決め方法
JP7312684B2 (ja) * 2019-11-27 2023-07-21 株式会社日立産機システム モータ制御装置、およびその自動調整方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10176948A (ja) * 1996-12-19 1998-06-30 Meidensha Corp 異常振動検出装置
JP2000278990A (ja) * 1999-03-23 2000-10-06 Matsushita Electric Ind Co Ltd モータの制御装置
JP2003134868A (ja) 2001-08-17 2003-05-09 Yaskawa Electric Corp 電動機制御装置の共振周波数検出装置
JP2005045937A (ja) 2003-07-23 2005-02-17 Yaskawa Electric Corp サーボ制御装置の限界ゲイン抽出方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005124475A1 (ja) * 2004-06-16 2005-12-29 Kabushiki Kaisha Yaskawa Denki 振動抑制フィルタの自動設定方法及び振動抑制フィルタの自動設定装置
JP4325566B2 (ja) * 2005-02-10 2009-09-02 株式会社安川電機 電動機制御装置およびその機械特性測定方法並びに制御器調整方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10176948A (ja) * 1996-12-19 1998-06-30 Meidensha Corp 異常振動検出装置
JP2000278990A (ja) * 1999-03-23 2000-10-06 Matsushita Electric Ind Co Ltd モータの制御装置
JP2003134868A (ja) 2001-08-17 2003-05-09 Yaskawa Electric Corp 電動機制御装置の共振周波数検出装置
JP2005045937A (ja) 2003-07-23 2005-02-17 Yaskawa Electric Corp サーボ制御装置の限界ゲイン抽出方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HONDA; SHIROTANI: "Learning of theory and practice of digital servo systems through illustration and practice", 30 June 1998, THE NIKKAN KOGYO SHINBUN, LTD., pages: 42 - 46

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2408622A4 (en) * 2009-03-18 2015-08-26 Canon Kk DEVICE WITH MOTOR
JP2010250509A (ja) * 2009-04-14 2010-11-04 Mitsubishi Electric Corp 駆動制御装置
CN103163829A (zh) * 2011-12-13 2013-06-19 东芝机械株式会社 伺服控制装置及其调整方法
JP2013126266A (ja) * 2011-12-13 2013-06-24 Toshiba Mach Co Ltd サーボ制御装置およびその調整方法
CN103163829B (zh) * 2011-12-13 2017-05-10 东芝机械株式会社 伺服控制装置及其调整方法
US9257932B2 (en) 2013-03-05 2016-02-09 Fanuc Corporation Control device for servomotor
JP2014171360A (ja) * 2013-03-05 2014-09-18 Fanuc Ltd サーボモータの制御装置
CN104035378B (zh) * 2013-03-05 2016-02-10 发那科株式会社 伺服电动机的控制装置
CN104035378A (zh) * 2013-03-05 2014-09-10 发那科株式会社 伺服电动机的控制装置
US10281884B2 (en) 2015-10-28 2019-05-07 Fanuc Corporation Learning controller for automatically adjusting servo control activity
DE102017107370A1 (de) 2016-04-13 2017-10-19 Fanuc Corporation Servosteuervorrichtung mit einer funktion zum automatischen regulieren eines steuersystems mit autonomer stabilisierung
US10108152B2 (en) 2016-04-13 2018-10-23 Fanuc Corporation Servo control device having function of automatically adjusting control system with autonomous stabilization
DE102017107370B4 (de) 2016-04-13 2025-02-27 Fanuc Corporation Servosteuervorrichtung mit einer funktion zum automatischen regulieren eines steuersystems mit autonomer stabilisierung

Also Published As

Publication number Publication date
EP2178202A1 (en) 2010-04-21
JPWO2009019953A1 (ja) 2010-10-28
US8198851B2 (en) 2012-06-12
TW200929841A (en) 2009-07-01
JP5206994B2 (ja) 2013-06-12
US20100194327A1 (en) 2010-08-05

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