US 12,222,699 B2
Motor control device and motor control computer program
Yusaku Oho, Yamanashi (JP); Naoto Sonoda, Yamanashi (JP); and Kenta Yamamoto, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Mar. 31, 2020, as Appl. No. 16/836,796.
Claims priority of application No. 2019-071530 (JP), filed on Apr. 3, 2019.
Prior Publication US 2020/0319616 A1, Oct. 8, 2020
Int. Cl. G05B 19/25 (2006.01); G05B 19/4155 (2006.01)
CPC G05B 19/258 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/41144 (2013.01); G05B 2219/42062 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A control device of a motor that drives a movable member in such a way as to cause the movable member to repeat a certain operation, comprising:
a processor configured to:
generate a phase signal having a predetermined period;
generate a disturbance signal repeated in the predetermined period, based on the phase signal;
for each predetermined sampling period, calculate a position deviation between a position of the movable member designated by a position command and a position of the movable member measured by a position detector, add an amount of correction for correcting the position deviation to the position deviation, add the disturbance signal to a drive signal for driving the motor being generated based on the position deviation to which the amount of correction is added, and cause the motor to operate based on the drive signal to which the disturbance signal is added;
calculate the amount of correction by using a dynamic characteristic compensation filter for compensating for a dynamic characteristic of a control system of the motor in such a way as to reduce the position deviation;
calculate, for each repetitive period including at least one of the predetermined periods, an evaluation value representing magnitude of the position deviation at each of the predetermined sampling periods in the repetitive period; and
change a configuration of the dynamic characteristic compensation filter in such a way that the evaluation value satisfies a predetermined condition.