Command generation device and command generation method
A command generation device according to an exemplary embodiment of the present invention includes a command receiving unit that receives a high-level command value related to motion of a motor from a host device, and an internal target generation unit that generates an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value. The internal target generation unit includes a feedback calculator that generates the internal target value corrected based on a difference between the high-level command value and the internal target value, and generates the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.
1. A command generation device comprising:
a command receiving unit that receives a high-level command value related to motion of a motor from a host device; and
an internal target generation unit that generates an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value,
the internal target generation unit including a feedback calculator that generates the internal target value corrected based on a difference between the high-level command value and the internal target value, and
the internal target generation unit generating the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.
2. The command generation device according to claim 1 , wherein
the high-level command value includes information about at least one of the position target value and the rotational speed target value of the motor.
3. The command generation device according to claim 1 , wherein
the high-level command value is a pulse train signal.
4. A motor control device comprising:
the command generation device according to claim 1 ; and
a motion control unit that performs position control and rotational speed control of the motor based on the internal target value generated by the command generation device.
5. A motor unit comprising:
the motor control device according to claim 4 mounted on a circuit board,
the circuit board supplying drive electric power to the motor.
6. A command generation device comprising:
a command receiving unit that receives a high-level command value related to motion of a motor from a host device; and
an internal target generation unit that generates an internal target value of the motor,
including a position target value and a rotational speed target value, based on the high-level command value,
the internal target generation unit including:
a feedforward calculator that generates a reference value of the internal target value using a predetermined model based on the high-level command value;
a feedback calculator that generates a correction value for correcting the reference value based on a difference between the high-level command value and the internal target value; and
an adder that generates the internal target value corrected by adding the correction value to the reference value,
the internal target generation unit generating the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.
7. The command generation device according to claim 6 , wherein
the feedforward calculator generates the reference value of any one of the position target value and the rotational speed target value, and
the feedback calculator generates the correction value for correcting the reference value of the one based on the difference in the other of the position target value and the rotational speed target value.
8. The command generation device according to claim 6 , wherein
the feedforward calculator generates the reference value smoothed.
9. The command generation device according to claim 7 , wherein
the high-level command value is a pulse train signal, and
the feedforward calculator generates the reference value of any one of the position target value and the rotational speed target value using the predetermined model based on a cycle of the pulse train signal.
10. A command generation method comprising the steps of:
receiving a high-level command value related to motion of a motor from a host device; and
generating an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value,
wherein in the step of generating the internal target value,
a feedback calculation for generating the internal target value corrected is performed based on a difference between the high-level command value and the internal target value, and
the internal target value corrected is generated in a cycle shorter than a cycle of receiving the high-level command value.