Motor controller and motor control method
A motor controller calculates a motor torque command based on motor speed and causes a motor to generate a torque corresponding to the motor torque command, to drive a machine load coupled to the motor. The motor controller includes a speed compensator that makes, when a speed compensation torque is calculated based on the motor speed, frequency characteristics of the speed compensation torque for the motor speed exhibit a low frequency cutoff characteristic so that steady-state gain in frequency response is less than a maximum gain value. A torque adder generates a motor torque command by adding to the existing motor torque command an externally input feedforward torque signal and the speed compensation torque.
1. A motor controller that calculates a motor torque command based on motor speed of a motor and causes the motor to generate a torque corresponding to the motor torque command to drive a machine load coupled to the motor, the motor controller comprising:
a speed compensator producing, when speed compensation torque is calculated based on at least the motor speed, a speed compensation torque with a frequency characteristic having a low-frequency cutoff and steady-state gain, as a function of frequency, that is less than a maximum gain value; and
a torque adder that generates the motor torque command by adding to the motor torque command an externally input feedforward torque signal and the speed compensation torque.
2. The motor controller according to claim 1 , wherein the frequency characteristic of the speed compensation torque for the motor speed produced by the speed compensator has a steady-state gain as a function of frequency that is a minute value, including 0.
3. The motor controller according to claim 1 , wherein the speed compensator receives (i) a reference speed signal, calculated based on an externally input motor operation command, and (ii) the motor speed, and calculates the speed compensation torque based on speed deviation, which is difference between the reference speed signal and the motor speed.
4. The motor controller according to claim 3 , further comprising an acceleration and deceleration compensation calculator that calculates, based on the motor operation command, acceleration and deceleration compensation torque for accelerating and decelerating the motor speed of the motor and the machine load to match the reference speed signal, wherein the torque adder generates the motor torque command by adding to the motor torque command the acceleration and deceleration compensation torque, feedforward torque signal, and the speed compensation torque.
5. A motor control method including calculating a motor torque command based on motor speed of a motor and causing the motor to generate a torque corresponding to the motor torque command to drive a machine load coupled to the motor, the motor control method comprising:
producing, when speed compensation torque is calculated based on at least the motor speed, a speed compensation torque with a frequency characteristic having a low-frequency cutoff and a steady-state gain as a function of frequency, that is less than a maximum gain value; and
generating the motor torque command by adding to the motor torque command at least an externally input feedforward torque signal and the speed compensation torque.
6. The motor control method according to claim 5 , wherein the frequency characteristic of the speed compensation torque for the motor speed low frequency has a steady-state gain as a function of frequency that is a minute value, including 0.
7. The motor control method according to claim 5 , including
receiving a reference speed signal, calculated based on an externally input motor operation command, and the motor speed, and
calculating the speed compensation torque based on speed deviation, which is a difference between the reference speed signal and the motor speed.
8. The motor control method according to claim 7 , further comprising calculating, based on the motor operation command, acceleration and deceleration compensation torque for accelerating and decelerating the motor speed of the motor and the machine load to match the reference speed signal, and
generating the motor torque command by adding to the motor torque command the acceleration and deceleration compensation torque, feedforward torque signal, and the speed compensation torque.