Electricity: motive power systems – Synchronous motor systems – Brushless motor closed-loop control
Reexamination Certificate
2010-09-12
2011-11-15
Low, Lindsay (Department: 3721)
Electricity: motive power systems
Synchronous motor systems
Brushless motor closed-loop control
C318S432000, C173S176000
Reexamination Certificate
active
08058827
ABSTRACT:
A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
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Iwashita Yasusuke
Okita Tadashi
Sugiyama Kazuyuki
Tezuka Junichi
Fanuc Ltd
Low Lindsay
Lowe Hauptman & Ham & Berner, LLP
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