US 11,733,673 B2
Numerical control system and motor drive controller
Kazuki Takahei, Tokyo (JP); Ryosuke Ikeda, Tokyo (JP); Norikazu Suzuki, Aichi (JP); and Shoya Ohno, Aichi (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP); and NATIONAL UNIVERSITY CORPORATION NAGOYA UNIVERSITY, Aichi (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP); and National University Corporation Nagoya University, Aichi (JP)
Filed on Dec. 30, 2022, as Appl. No. 18/91,389.
Application 18/091,389 is a division of application No. 16/638,751, granted, now 11,630,437, previously published as PCT/JP2017/031261, filed on Aug. 30, 2017.
Prior Publication US 2023/0137542 A1, May 4, 2023
Int. Cl. G05B 19/408 (2006.01)
CPC G05B 19/4086 (2013.01) [G05B 2219/33263 (2013.01); G05B 2219/42156 (2013.01); G05B 2219/45044 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A motor drive controller comprising:
processing circuitry configured to:
control a machine drive system including a motor, according to a numerical control program;
estimate a disturbance force or a disturbance torque applied to the machine drive system using a detection result detected by a sensor to detect speed or acceleration of the machine drive system;
calculate an actual power of machine drive system corresponding to a first structure model of the machine drive system from the detection result, based on the first structure model;
calculate a power command of machine drive system that is a force applied by the motor to the machine drive system, based on a second structure model of the machine drive system including the motor of the machine drive system, a detection result of a motor current flowing through the motor, and a detection result of a position of the motor;
estimate the disturbance force or the disturbance torque using the actual power of machine drive system and the power command of machine drive system; and
correct commands of the numerical control program based on the estimated disturbance force or the disturbance torque, wherein
one of a plurality of structures constituting the machine drive system is divided into a first inertial body model and a second inertial body model for modeling, the first structure model includes the first inertial body model, and the second structure model includes the second inertial body model.