US 12,476,567 B2
Motor control device
Hiroshi Fujiwara, Osaka (JP); and Kenta Murakami, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Appl. No. 18/249,732
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
PCT Filed Dec. 8, 2021, PCT No. PCT/JP2021/045122
§ 371(c)(1), (2) Date Oct. 7, 2023,
PCT Pub. No. WO2022/138166, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-214576 (JP), filed on Dec. 24, 2020.
Prior Publication US 2024/0136965 A1, Apr. 25, 2024
Prior Publication US 2024/0235449 A9, Jul. 11, 2024
Int. Cl. H02P 25/06 (2016.01); H02K 11/21 (2016.01)
CPC H02P 25/06 (2013.01) [H02K 11/21 (2016.01)] 11 Claims
OG exemplary drawing
 
1. A motor control device configured to control a motor that moves a load to a target position based on a position command for instructing a position of the motor, the motor control device comprising:
a prediction part that acquires multiple target position deviations each indicating a difference between a position of the load and the target position at a corresponding one of multiple times, and a target settling time indicating a target time at which the motor positions the load at the target position, and that calculates a predicted target position deviation indicating a difference between a position of the load at the target settling time and the target position based on the multiple target position deviations and the target settling time;
a correction command generator that generates a correction command for correcting the position command based on the predicted target position deviation when the predicted target position deviation indicates that the load does not reach within a predetermined range from the target position;
a corrector that acquires the position command, corrects the position command based on the correction command, and generates a corrected position command; and
a controller that controls the motor based on the corrected position command and a position of the motor, wherein:
the multiple target position deviations include a first target position deviation at a first time and a second target position deviation at a second time, and
the prediction part calculates the predicted target position deviation based on the first time, the second time, the first target position deviation, and the second target position deviation.