Electric tool system, method of using the electric tool system, and program
An electric tool system includes a motor, a control unit, and an output shaft. The motor includes a stator and a rotor. The control unit performs vector control on the motor. The control unit includes a first acquisition unit, a second acquisition unit, and a command value generation unit. The command value generation unit calculates, based on a torque current acquisition value (current measured value) as a value related to a torque current as acquired by the first acquisition unit and an acceleration acquisition value as a value related to acceleration of the rotor as acquired by the second acquisition unit, at least one of a command value of the torque current to be supplied to the motor or a command value of an excitation current to be supplied to the motor.
1. An electric tool system comprising:
a motor including a stator and a rotor, the rotor being configured to rotate with respect to the stator;
a control unit configured to perform vector control on the motor; and
an output shaft configured to be coupled to a tip tool,
the control unit including:
a first acquisition unit configured to acquire a value related to a torque current flowing through the motor;
a second acquisition unit configured to acquire a value related to acceleration of the rotor; and
a command value generation unit configured to calculate, based on a torque current acquisition value and an acceleration acquisition value, at least one of a command value of the torque current to be supplied to the motor or a command value of an excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired by the first acquisition unit, the acceleration acquisition value being the value related to the acceleration as acquired by the second acquisition unit,
the command value generation unit including:
a correction unit configured to make correction to the torque current acquisition value based on the acceleration acquisition value; and
a calculation unit configured to calculate, based on the torque current acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor in a state where the correction made by the correction unit is reflected.
2. The electric tool system of claim 1 , wherein
the command value generation unit is configured to calculate, based on the torque current acquisition value and the acceleration acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor at least in an interval from a point in time when the rotor starts to rotate through a point in time when a predetermined period passes.
3. The electric tool system of claim 1 , wherein
the second acquisition unit is configured to calculate the acceleration acquisition value based on a physical quantity proportional to a number of revolutions of the rotor.
4. A method of using the electric tool system of claim 1 ,
the method comprising:
a first acquisition step including acquiring the value related to the torque current flowing through the motor;
a second acquisition step including acquiring the value related to the acceleration of the rotor; and
a command value generation step including calculating, based on the torque current acquisition value and the acceleration acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired in the first acquisition step, the acceleration acquisition value being the value related to the acceleration as acquired in the second acquisition step,
the command value generation step including:
a correction step including making correction to the torque current acquisition value based on the acceleration acquisition value; and
a calculation step including calculating, based on the torque current acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor in a state where the correction made by the correction step is reflected.
5. A non-transitory computer-readable storage medium having stored thereon a program designed to cause one or more processors of the computer to perform the method of using the electric tool system according to claim 4 .
6. An electric tool system comprising:
a motor including a stator and a rotor, the rotor being configured to rotate with respect to the stator;
a control unit configured to perform vector control on the motor; and
an output shaft configured to be coupled to a tip tool,
the control unit including:
a first acquisition unit configured to acquire a value related to a torque current flowing through the motor;
a second acquisition unit configured to acquire a value related to acceleration of the rotor; and
a command value generation unit configured to calculate, based on a torque current acquisition value and an acceleration acquisition value, at least one of a command value of the torque current to be supplied to the motor or a command value of an excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired by the first acquisition unit, the acceleration acquisition value being the value related to the acceleration as acquired by the second acquisition unit,
the command value generation unit including a correction unit configured to make, based on the acceleration acquisition value, correction to at least one of the torque current acquisition value or a predetermined torque current threshold value, and
the control unit being configured to stop rotating the rotor when finding the torque current acquisition value exceeding the torque current threshold value in a state where the correction made by the correction unit is reflected.
7. A method of using the electric tool system of claim 6 , the method comprising:
a first acquisition step including acquiring the value related to the torque current flowing through the motor;
a second acquisition step including acquiring the value related to the acceleration of the rotor; and
a command value generation step including calculating, based on the torque current acquisition value and the acceleration acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired in the first acquisition step, the acceleration acquisition value being the value related to the acceleration as acquired in the second acquisition step,
the command value generation step including a correction step including making, based on the acceleration acquisition value, correction to the at least one of the torque current acquisition value or a predetermined torque current threshold value, and
the control step including stopping rotating the rotor when finding the torque current acquisition value exceeding the torque current threshold value in a state where the correction made by the correction step is reflected.
8. A non-transitory computer-readable storage medium having stored thereon a program designed to cause one or more processors of the computer to perform the method of using the electric tool system according to claim 7 .
9. An electric tool system comprising:
a motor including a stator and a rotor, the rotor being configured to rotate with respect to the stator;
a control unit configured to perform vector control on the motor; and
an output shaft configured to be coupled to a tip tool,
the control unit including:
a first acquisition unit configured to acquire a value related to a torque current flowing through the motor;
a second acquisition unit configured to acquire a value related to acceleration of the rotor; and
a command value generation unit configured to calculate, based on a torque current acquisition value and an acceleration acquisition value, at least one of a command value of the torque current to be supplied to the motor or a command value of an excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired by the first acquisition unit, the acceleration acquisition value being the value related to the acceleration as acquired by the second acquisition unit,
the control unit being configured to process, as invalid information for at least a part of control of the motor, the torque current acquisition value in an interval from a point in time when the rotor starts to rotate through a point in time when a predetermined mask period passes.
10. A method of using the electric tool system of claim 9 , the method comprising:
a first acquisition step including acquiring the value related to the torque current flowing through the motor;
a second acquisition step including acquiring the value related to the acceleration of the rotor; and
a command value generation step including calculating, based on the torque current acquisition value and the acceleration acquisition value, the at least one of the command value of the torque current to be supplied to the motor or the command value of the excitation current to be supplied to the motor, the torque current acquisition value being the value related to the torque current as acquired in the first acquisition step, the acceleration acquisition value being the value related to the acceleration as acquired in the second acquisition step,
the control step including processing, as invalid information for at least a part of control of the motor, the torque current acquisition value in an interval from a point in time when the rotor starts to rotate through a point in time when a predetermined mask period passes.
11. A non-transitory computer-readable storage medium having stored thereon a program designed to cause one or more processors of the computer to perform the method of using the electric tool system according to claim 10 .