초록 ▼

A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a mo

A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.

대표청구항 ▼

1. A motor controlling device comprising: a position controller to generate a speed reference based on a positional reference and a motor position;a speed controller to generate a torque reference based on the speed reference and a motor speed;a motor drive to drive a motor based on the torque refer

1. A motor controlling device comprising: a position controller to generate a speed reference based on a positional reference and a motor position;a speed controller to generate a torque reference based on the speed reference and a motor speed;a motor drive to drive a motor based on the torque reference, the motor being to drive machinery to which an acceleration sensor is attached;an acceleration feedback signal generator to generate a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, the acceleration feedback signal generator including a primary low pass filter and a primary high pass filter arranged in series to the primary low pass filter; anda positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery, the positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function. 2. The motor controlling device of claim 1, wherein the acceleration feedback signal generator has a gain, and generates the feedback signal based on the acceleration detection signal via the primary low pass filter and the gain. 3. The motor controlling device of claim 1, wherein the positional reference filter is provided with a first dipole removal filter having a first time constant in a denominator and a second time constant in a numerator of the transfer function,wherein the first time constant is the same as the time constant of the primary low pass filter, and the second time constant is a time constant that can remove a pole of a transfer function from the positional reference to the position of the machinery. 4. The motor controlling device of claim 1, wherein the positional reference filter is provided with a second dipole removal filter having a third time constant in a denominator and a fourth time constant in a numerator of the transfer function, andwherein the third time constant is the same as the time constant of the primary high pass filter, and the fourth time constant is a time constant that can remove a pole of a transfer function from the positional reference to the position of the machinery. 5. The motor controlling device of claim 1, wherein the machinery is comprised of N links (here, N is an integer of two or greater) connected in series to each other and having a multiple mode of vibration,wherein the acceleration feedback signal generator includes N acceleration feedback signal generators in parallel to each other, corresponding to acceleration detection signals from N acceleration sensors attached to tip ends or anti-node parts of the N links, respectively, andwherein the positional reference filter includes N positional reference filters in series to each other, corresponding to the N acceleration feedback signal generators, respectively. 6. A method of controlling a motor, performed in a motor controlling device including a position controller to generate a speed reference based on a positional reference and a motor position, a speed controller to generate a torque reference based on the speed reference and a motor speed, a motor drive to drive the motor based on the torque reference, the motor being to drive machinery, a primary low pass filter, and a primary high pass filter arranged in series to the primary low pass filter, the method comprising: generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of an acceleration sensor attached to the machinery; andfiltering the positional reference to suppress low frequency vibration of the machinery using a positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function. 7. A machinery system comprising: a motor;machinery driven by the motor, an acceleration sensor attached to the machinery,a motor controlling device comprising: a position controller to generate a speed reference based on a positional reference and a motor position;a speed controller to generate a torque reference based on the speed reference and a motor speed;a motor drive to drive the motor based on the torque reference;an acceleration feedback signal generator to generate a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, the acceleration feedback signal generator including a primary low pass filter and a primary high pass filter arranged in series to the primary low pass filter; anda positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery, the positional reference filter having a time constant same as a time constant of the primary low pass filter in a transfer function thereof, the time constant of the positional reference filter is the same as a time constant of the primary high pass filter in the transfer function.