US 12,249,941 B2
Motor control device, motor control method, and non-transitory computer-readable recording medium
Kenta Murakami, Osaka (JP); Atsuki Kyuhata, Osaka (JP); Kento Yoshino, Osaka (JP); Yosuke Majima, Osaka (JP); and Benpei Kimura, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Appl. No. 18/245,089
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
PCT Filed Dec. 23, 2021, PCT No. PCT/JP2021/047781
§ 371(c)(1), (2) Date Mar. 13, 2023,
PCT Pub. No. WO2022/138794, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-213144 (JP), filed on Dec. 23, 2020.
Prior Publication US 2024/0022201 A1, Jan. 18, 2024
Int. Cl. G05B 19/416 (2006.01); H02P 29/00 (2016.01)
CPC H02P 29/00 (2013.01) 16 Claims
OG exemplary drawing
 
1. A motor control device comprising:
a control unit that generates a driving signal for driving a motor in accordance with a command signal and an encoder signal and outputs the driving signal generated to the motor, the command signal being a signal for setting a position of a moving part connected to the motor to a target position, the encoder signal indicating a position of the motor detected by an encoder; and
a generation-method changer that changes a generation method used by the control unit to generate the driving signal, in accordance with a position sensor signal indicating a detected target position that is the target position detected by a position sensor mounted on the moving part, wherein:
when there is a difference between the target position and the detected target position, the generation-method changer (1) generates a correction value for correcting the command signal so that the target position is changed by the difference; (2) outputs the correction value generated to the control unit, and (3) changes the generation method so that the driving signal is generated based on the encoder signal and the command signal corrected by the correction value, and
the control unit includes:
a corrector that stores the correction value, corrects the command signal based on the correction value stored and the command signal, and outputs a corrected command signal that is the command signal corrected; and
a driving-signal generator that generates the driving signal by performing feedback control for feeding back the encoder signal to the corrected command signal.