Patent ID: 9122258
Filing Date: 2015-09-01
Classification: G05B,H02P

Abstract:
1. A motor control device that includes a feedback control unit that calculates a torque command based on an operation command signal that commands an operation of a motor connected to a mechanical device and an operation detection signal that detects an operation of the motor, and a current control unit that outputs a drive current for driving the motor based on the torque command, the device comprising: an operation determination unit that determines that the motor is in an operating state when an absolute value of a speed signal of the motor acquired directly or by a calculation based on the operation command signal or the operation detection signal is equal to or larger than a threshold, and that determines that the motor is in a stopped state when the absolute value is smaller than the threshold; an operated-time amplitude estimation unit that, when it is determined by the operation determination unit that the motor is in an operating state, sequentially calculates a vibration amplitude value included in a control state quantity of the feedback control unit or the current control unit, when it is determined by the operation determination unit that the motor is in a stopped state, stops a calculation of the vibration amplitude value and maintains an internal state, and outputs the vibration amplitude value as an operated-time amplitude value; and a stopped-time amplitude-estimation unit that, when it is determined by the operation determination unit that the motor is in a stopped state, sequentially calculates a vibration amplitude value included in a control state quantity of the feedback control unit or the current control unit, when it is determined by the operation determination unit that the motor is in an operating state, stops a calculation of the vibration amplitude value and maintains an internal state, and outputs the vibration amplitude value as a stopped-time amplitude value.