CPC G05B 19/4086 (2013.01) [G05B 2219/33263 (2013.01); G05B 2219/42156 (2013.01); G05B 2219/45044 (2013.01)] | 2 Claims |
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.
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