公开(公告)号：US10345827B2

公开(公告)日：2019-07-09

申请号：US13814576

申请日：2011-08-06

Applicant: Jun Otsuji ,  Akihiro Ito ,  Hirokazu Watanabe ,  Hideyuki Odagiri

Inventor： Jun Otsuji ,  Akihiro Ito ,  Hirokazu Watanabe ,  Hideyuki Odagiri

IPC: H02P6/16 ,  G05D3/20 ,  G05B19/19 ,  H02M5/458

Abstract: A motor control device may include a position command output means, a first subtraction means that calculates and outputs a position deviation, a position control means, a second subtraction means that calculates and outputs a position deviation, a speed control means that outputs a torque command, a limiter limits the level of the torque command, a motor drive means, and a voltage fluctuation detection means. When the voltage fluctuation detection means detects that the voltage of said power source has dropped below a predetermined reference level, either the position command output means varies the position command so as to reduce the rotational speed of the motor and/or said position control means limits said speed command to be output.

公开(公告)号：US20140070752A1

公开(公告)日：2014-03-13

申请号：US13814576

申请日：2011-08-06

Applicant: Jun Otsuji ,  Akihiro Ito ,  Hirokazu Watanabe ,  Hideyuki Odagiri

Inventor： Jun Otsuji ,  Akihiro Ito ,  Hirokazu Watanabe ,  Hideyuki Odagiri

IPC: G05B19/19

CPC classification number: G05D3/20 ,  G05B19/19 ,  G05B2219/41142

Abstract: The present invention provides a motor control device capable of operating a robot properly without stopping a motor that operates the robot even when an instantaneous voltage drop occurs. The motor control device 10 that controls the robot operating motor 102 is equipped with the subtraction unit 109 that calculates the position deviation for which the actual rotational position is subtracted from the position command, the position control unit 110 that converts the position deviation to the speed command, the subtraction unit 111 that calculates the speed deviation for which the actual rotational speed measurement is subtracted from the speed command, the speed control unit 112 that converts the speed deviation to a torque command, the limiter 113 that sets the maximum level of the torque command, the driver 114 that drives the motor 102, and the voltage fluctuation detection unit 115 that detects the voltage fluctuation of the power source 103; in the motor control device 101, when an instantaneous voltage drop is detected by the voltage fluctuation detection unit 115, the position command output unit 108 varies the position command so as to reduce the rotational speed of the motor 102, and the position control unit 110 limits the speed command to be output.

Abstract translation: 本发明提供一种即使在发生瞬时电压降的情况下也能适当地操作机器人而不停止操作机器人的马达的马达控制装置。 控制机器人操作电动机102的电动机控制装置10配备有从位置指令计算实际旋转位置减去的位置偏差的减法单元109，将位置偏差转换为速度的位置控制单元110 命令，将从速度指令中减去实际转速测量的速度偏差的减法单元111，将速度偏差转换为转矩指令的速度控制单元112，设定最大水平的限制器113 转矩指令，驱动电动机102的驱动器114以及检测电源103的电压波动的电压波动检测部115; 在电动机控制装置101中，当电压波动检测部115检测到瞬时电压降时，位置指令输出部108变更位置指令，以减小电动机102的转速，位置控制部110 限制要输出的速度命令。